From 45e60085c566e8ad403623e336c39bd90f0bb48b Mon Sep 17 00:00:00 2001 From: Elcin Erdogan Date: Wed, 9 Oct 2019 09:53:06 +0300 Subject: [PATCH] Create AnchorScan.msg This is a message to hold the fixed anchors' (UWB sensors) information at known coordinates and Time Difference of Arrival (TDOA) values. The indoor positioning systems developed using UWB signals include multiple sensors that transmit UWB signals in an environment. Calculations such as position, anchor selection etc. are made by using TDOA measurements from these sensors and coordinate information of the sensors. With the defined AnchorScan message, it allows the publish of this information from the sensors via any developed firmware. --- sensor_msgs/msg/AnchorScan.msg | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 sensor_msgs/msg/AnchorScan.msg diff --git a/sensor_msgs/msg/AnchorScan.msg b/sensor_msgs/msg/AnchorScan.msg new file mode 100644 index 00000000..1c9d31c5 --- /dev/null +++ b/sensor_msgs/msg/AnchorScan.msg @@ -0,0 +1,21 @@ +# This is a message to hold the fixed anchors' (UWB sensors) information at known coordinates +# and Time Difference of Arrival (TDOA) values. +# +# The indoor positioning systems developed using UWB signals include multiple sensors +# that transmit UWB signals in an environment. +# +# Calculations such as position, anchor selection etc. are made by using TDOA measurements +# from these sensors and coordinate information of the sensors. +# +# With the defined AnchorScan message, it allows the publish of this information +# from the sensors via any developed firmware. + +Header header + +int32[] AnchorID # ID of fixed sensors. + +float64[] x # x coordinates of fixed sensors respectively in meter +float64[] y # y coordinates of fixed sensors respectively in meter +float64[] z # z coordinates of fixed sensors respectively in meter + +float64[] tdoa_of_anchors # TDOA values of UWB signals according to sensor with minimum ID.