Build Guideadvanced
UMotion: Multi-Anchor UWB Ranging with DW3000
Advanced UWB ranging firmware for Makerfabs ESP32 DW3000 supporting single/double-sided TWR, multi-anchor configurations, and distance matrix measurements for motion estimation research.
Boards:ESP32
Firmware:Arduino
Use Cases:IoT Prototyping
Overview
Developed by Huakun Liu (kk9six) for the research paper "UMotion: Uncertainty-driven Human Motion Estimation from Inertial and Ultra-wideband Units," this firmware implements advanced UWB ranging protocols on the Makerfabs ESP32 UWB DW3000.
Features
- Single-sided Two-Way Ranging (SSTWR) for fast distance estimation
- Double-sided Two-Way Ranging (DSTWR) for higher accuracy
- Anchor-Tag (AT) mode: one tag ranges against multiple anchors simultaneously
- Distance-Matrix (DM) mode: measures inter-node distances across all devices
- Optimal inter-distance ranging protocol implementation
Use Cases
Originally developed for human motion estimation combining IMU and UWB data, but the firmware is broadly useful for any multi-anchor indoor positioning or tracking application.
