Open Source Ultra-Wideband RTLS with Zephyr – Development Experience
summary
Open source RTLS implements time‑of‑flight ranging with the Decawave MDEK1001 (DW1000) and runs on Zephyr RTOS, using single‑sided two‑way ranging that yields about 20 cm accuracy (calibration can approach 2 cm). Multilateration runs on the tag via Zephyr’s scientific library to avoid constant server round trips. Gateway bridges Bluetooth mesh to MQTT by proxying the host HCI (kuimo/native posix + btproxy) and runs in ~15 MB RAM; UWB range proves usable to ~30 m.
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chapters (28)
- 0:00Start
- 0:14About me
- 1:15Talk plan
- 2:37In practice
- 4:35What's Ultra-Wideband?
- 5:33BMW Digital Key Plus
- 5:51UWB use in RTLS
- 6:30Single-Sided Two-Way Ranging
- 7:19True-range multilateration 2D
- 8:08High accuracy RTLS use cases
- 9:55Features
- 11:20Motivation
- 12:09Demo
- 12:54Gateway
- 13:46Options
- 15:38IP stack on QEMU
- 16:46Target-specific hacks
- 17:17pcap!
- 17:41Bluetooth Low Energy
- 19:50Data flow my setup
- 20:18Side note: nRF Connect SDK
- 21:10UWB on Zephyr: DW1000 driver
- 22:22Porting the driver
- 23:04Beware
- 23:31Devicetree: the double-edged sword
- 24:13Making devicetree less painful
- 26:39Deja vu
- 27:38Wrap up
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