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UWB anchor position auto-calibration #602

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opened 2026-03-14 14:55:23 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 14:55:23 -04:00
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Create a calibration routine that automatically determines anchor positions from inter-anchor ranging. Place tag at known origin, command all anchors to range each other (modify anchor firmware to support peer-to-peer ranging mode on command). Use multidimensional scaling (MDS) to compute anchor positions from the distance matrix. Output: JSON anchor config file with x,y,z positions. ROS2 service /saltybot/uwb/calibrate_anchors that triggers the routine and updates the config. Minimum 4 anchors required.

Create a calibration routine that automatically determines anchor positions from inter-anchor ranging. Place tag at known origin, command all anchors to range each other (modify anchor firmware to support peer-to-peer ranging mode on command). Use multidimensional scaling (MDS) to compute anchor positions from the distance matrix. Output: JSON anchor config file with x,y,z positions. ROS2 service /saltybot/uwb/calibrate_anchors that triggers the routine and updates the config. Minimum 4 anchors required.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#602
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