I am currently researching the use of DWM1000 for an indoor TOF based localization system for use within drone research for swarm formations on the Technical University of Denmark.
First up, does any of you guys have some inputs regarding how to get the best accuracy on our localization? Our initial research is pointing towards using a cost-referenced particle filter, but is this the best way of doing it?
Secondly, does any of you have an example or some resources on how to implement, say eg. a cost-referenced particle filter or an extended Kalman filter, for trilateration estimates? Either as MATLAB or C code?
Third, by reading around on this Google Groups I can see a lot of posts regarding nonlinearity of the TOF as a function of eg. RX power and antenna orientation? Could someone explain a little about this? In my “narrow-minded” world, TOF will always be linear, no matter the power or the orientation, as it is merely the time from antenna to antenna?
Thank you very much in advance.