Wireless positioning & tracking system
High-precision outdoor position and orientation tracking with UWB (Ultra Wideband) and IMU sensor fusion. An internal R&D project with ESP32-based hardware, real-time data streaming and visualisation; proof of concept complete.
| Field | Detail |
|---|---|
| Type | Internal R&D — civil / IoT |
| Status | Proof of concept complete |
| Hardware | ESP32-based modules (M5StickC Plus2, ESP32-S3), Qorvo DWM3000 UWB module, IMU |
| Software | Embedded firmware, sensor fusion (EKF + Madgwick), UDP streaming, Python and web visualisation |
| Mechatree's role | Architecture, hardware selection and BOM, wiring, firmware, fusion algorithm, testing |
Problem
GPS has metre-level error outdoors and gives no orientation. Training, gaming, sports and industrial tracking need centimetre-level position and real-time orientation together.
Approach
- UWB positioning: range measurements between fixed anchors and a tag
- IMU orientation: quaternion output from a Madgwick filter
- Fusion: an extended Kalman filter (EKF) combining UWB position and IMU data; sub-centimetre accuracy targeted
- Communication: real-time event and state streaming over UDP
- Visualisation: live position and orientation dashboard
Applied scenario
First application: a laser-tag / airsoft training system — weapon position and orientation are tracked, the trigger is read over GPIO, and the laser and recoil motor are driven by MOSFET drivers with per-output duration and PWM control. Hardware BOM, wiring diagrams and firmware plan are complete.
Where it can be adapted
Asset tracking in warehouses and sites, training and simulation, sports performance analysis, robot and vehicle positioning, personnel tracking.
Note: This is an internal Mechatree R&D project, not a client commission. The same architecture can be adapted to client projects.
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