Note: This is a foundational codebase developed in 2020, focusing on the core mathematical algorithms for 3D positioning using Ultra-Wideband (UWB) technology. For my latest work on Radar & Robotics, please visit Project Fire-Gecko.
This repository hosts a high-performance 3D Localization & Tracking System designed for Decawave DW1000-based hardware. It implements a complete signal processing pipeline from raw serial data to precise coordinate calculation.
Unlike modern high-level Python scripts, this project is written in pure C++, optimized for embedded systems and real-time processing performance.
Based on the file structure, this engine includes:
ctaglocalg(Localization Algorithm): Core solver for calculating (x, y, z) coordinates using TDOA/TOA trilateration.ctagtrackal(Tracking Algorithm): Implements trajectory smoothing (likely Kalman Filter or similar) to reduce jitter.ccmath&ccsp: Custom Math & Signal Processing libraries optimized for embedded environments.cserialport&ctcpcom: Robust communication layer handling Serial (UART) and TCP/IP data streams.
- Language: C++ (98.8%)
- Hardware: Decawave DW1000 Series
- Methods: Least Squares Estimation, Geometric Dilution of Precision (GDOP) Optimization.
Copyright © 2020-2025 Dr. Charley Chang. All Rights Reserved.