Apply range bias to distance measurement #105
Labels
component: dwm1001
Issue concerns the DWM1001 board support crate
type: enhancement
New feature or request
Comments
hannobraun
added
type: enhancement
jonathanpallant
pushed a commit
to 42-technology-ltd/rust-dw1000
that referenced
this issue
Apr 16, 2020
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Original issue: hannobraun/rust-dwm1001#55
The measured distance value is usually too large. To get a more accurate result, a bias needs to be applied. Strictly speaking, the value of this bias depends on the received signal strength. For the DWM1001, it should be accurate enough to apply the bias for the measured range. This is described in Application Note APS011.
The bias correction is implemented in Decawave's driver code. The code for that is available, but there's no license that would allow us to use that code. The following description is intended to serve as a specification, to make it possible to create a clean-room implementation.
The range bias value is applied using the following formular:
The range bias value consists of two parts according to the following formular:
The range bias value depends on the following parameters:
Channels are grouped into two groups:
The base part values are:
-23 cmfor 16 MHz PRF, narrow-band channel-28 cmfor 16 MHz PRF, wide-band channel-17 cmfor 64 MHz PRF, narrow-band channel-30 cmfor 64 MHz PRF, wide-band channelThe following lists provide the distance-dependent part. There is one list for each combination of channel and PRF setting. Each list item provides the distance-dependent part of the range bias for an interval of measure distances.
Since all of this would be extremely tedious to write manually, I've also prepared a TOML file to aid code generation: range-tables.zip
Distance-dependent part values for channel 1, 16 MHz PRF:
0 cmfor0 cm <= d <= 25 cm1 cmfor25 cm < d <= 75 cm2 cmfor75 cm < d <= 100 cm3 cmfor100 cm < d <= 125 cm4 cmfor125 cm < d <= 175 cm5 cmfor175 cm < d <= 225 cm6 cmfor225 cm < d <= 275 cm7 cmfor275 cm < d <= 300 cm8 cmfor300 cm < d <= 325 cm9 cmfor325 cm < d <= 375 cm10 cmfor375 cm < d <= 450 cm11 cmfor450 cm < d <= 500 cm12 cmfor500 cm < d <= 575 cm13 cmfor575 cm < d <= 625 cm14 cmfor625 cm < d <= 700 cm15 cmfor700 cm < d <= 750 cm16 cmfor750 cm < d <= 825 cm17 cmfor825 cm < d <= 900 cm18 cmfor900 cm < d <= 1000 cm19 cmfor1000 cm < d <= 1075 cm20 cmfor1075 cm < d <= 1175 cm21 cmfor1175 cm < d <= 1250 cm22 cmfor1250 cm < d <= 1350 cm23 cmfor1350 cm < d <= 1450 cm24 cmfor1450 cm < d <= 1575 cm25 cmfor1575 cm < d <= 1650 cm26 cmfor1650 cm < d <= 1775 cm27 cmfor1775 cm < d <= 1900 cm28 cmfor1900 cm < d <= 2050 cm29 cmfor2050 cm < d <= 2225 cm30 cmfor2225 cm < d <= 2450 cm31 cmfor2450 cm < d <= 2725 cm32 cmfor2725 cm < d <= 3175 cm33 cmfor3175 cm < d <= 3875 cm34 cmfor3875 cm < d <= 5550 cm35 cmford > 5550 cmDistance-dependent part values for channel 2, 16 MHz PRF:
0 cmfor0 cm <= d <= 25 cm1 cmfor25 cm < d <= 50 cm2 cmfor50 cm < d <= 100 cm3 cmfor100 cm < d <= 125 cm4 cmfor125 cm < d <= 150 cm5 cmfor150 cm < d <= 200 cm6 cmfor200 cm < d <= 225 cm7 cmfor225 cm < d <= 250 cm8 cmfor250 cm < d <= 300 cm9 cmfor300 cm < d <= 325 cm10 cmfor325 cm < d <= 375 cm11 cmfor375 cm < d <= 450 cm12 cmfor450 cm < d <= 500 cm13 cmfor500 cm < d <= 550 cm14 cmfor550 cm < d <= 600 cm15 cmfor600 cm < d <= 675 cm16 cmfor675 cm < d <= 725 cm17 cmfor725 cm < d <= 800 cm18 cmfor800 cm < d <= 875 cm19 cmfor875 cm < d <= 950 cm20 cmfor950 cm < d <= 1025 cm21 cmfor1025 cm < d <= 1100 cm22 cmfor1100 cm < d <= 1175 cm23 cmfor1175 cm < d <= 1275 cm24 cmfor1275 cm < d <= 1375 cm25 cmfor1375 cm < d <= 1450 cm26 cmfor1450 cm < d <= 1550 cm27 cmfor1550 cm < d <= 1650 cm28 cmfor1650 cm < d <= 1775 cm29 cmfor1775 cm < d <= 1950 cm30 cmfor1950 cm < d <= 2125 cm31 cmfor2125 cm < d <= 2400 cm32 cmfor2400 cm < d <= 2775 cm33 cmfor2775 cm < d <= 3375 cm34 cmfor3375 cm < d <= 4850 cm35 cmfor4850 cm < d <= 6000 cm36 cmford > 6000 cmDistance-dependent part values for channel 3, 16 MHz PRF:
0 cmfor0 cm <= d <= 25 cm1 cmfor25 cm < d <= 50 cm2 cmfor50 cm < d <= 75 cm3 cmfor75 cm < d <= 100 cm4 cmfor100 cm < d <= 125 cm5 cmfor125 cm < d <= 175 cm6 cmfor175 cm < d <= 200 cm7 cmfor200 cm < d <= 225 cm8 cmfor225 cm < d <= 250 cm9 cmfor250 cm < d <= 300 cm10 cmfor300 cm < d <= 350 cm11 cmfor350 cm < d <= 400 cm12 cmfor400 cm < d <= 450 cm13 cmfor450 cm < d <= 500 cm14 cmfor500 cm < d <= 550 cm15 cmfor550 cm < d <= 600 cm16 cmfor600 cm < d <= 650 cm17 cmfor650 cm < d <= 700 cm18 cmfor700 cm < d <= 775 cm19 cmfor775 cm < d <= 825 cm20 cmfor825 cm < d <= 900 cm21 cmfor900 cm < d <= 975 cm22 cmfor975 cm < d <= 1050 cm23 cmfor1050 cm < d <= 1125 cm24 cmfor1125 cm < d <= 1225 cm25 cmfor1225 cm < d <= 1300 cm26 cmfor1300 cm < d <= 1375 cm27 cmfor1375 cm < d <= 1475 cm28 cmfor1475 cm < d <= 1575 cm29 cmfor1575 cm < d <= 1725 cm30 cmfor1725 cm < d <= 1900 cm31 cmfor1900 cm < d <= 2125 cm32 cmfor2125 cm < d <= 2450 cm33 cmfor2450 cm < d <= 3000 cm34 cmfor3000 cm < d <= 4325 cm35 cmfor4325 cm < d <= 5325 cm36 cmford > 5325 cmDistance-dependent part values for channel 4, 16 MHz PRF:
0 cmfor0 cm <= d <= 175 cm2 cmfor175 cm < d <= 200 cm3 cmfor200 cm < d <= 225 cm5 cmfor225 cm < d <= 250 cm6 cmfor250 cm < d <= 275 cm8 cmfor275 cm < d <= 300 cm9 cmfor300 cm < d <= 325 cm10 cmfor325 cm < d <= 350 cm11 cmfor350 cm < d <= 375 cm12 cmfor375 cm < d <= 400 cm13 cmfor400 cm < d <= 425 cm14 cmfor425 cm < d <= 450 cm15 cmfor450 cm < d <= 475 cm16 cmfor475 cm < d <= 500 cm17 cmfor500 cm < d <= 525 cm18 cmfor525 cm < d <= 550 cm19 cmfor550 cm < d <= 575 cm20 cmfor575 cm < d <= 600 cm21 cmfor600 cm < d <= 650 cm22 cmfor650 cm < d <= 675 cm23 cmfor675 cm < d <= 700 cm24 cmfor700 cm < d <= 750 cm25 cmfor750 cm < d <= 775 cm26 cmfor775 cm < d <= 800 cm27 cmfor800 cm < d <= 850 cm28 cmfor850 cm < d <= 900 cm29 cmfor900 cm < d <= 950 cm30 cmfor950 cm < d <= 1000 cm31 cmfor1000 cm < d <= 1050 cm32 cmfor1050 cm < d <= 1100 cm33 cmfor1100 cm < d <= 1150 cm34 cmfor1150 cm < d <= 1200 cm35 cmfor1200 cm < d <= 1250 cm36 cmfor1250 cm < d <= 1300 cm37 cmfor1300 cm < d <= 1375 cm38 cmfor1375 cm < d <= 1425 cm39 cmfor1425 cm < d <= 1475 cm40 cmfor1475 cm < d <= 1525 cm41 cmfor1525 cm < d <= 1575 cm42 cmfor1575 cm < d <= 1650 cm43 cmfor1650 cm < d <= 1700 cm44 cmfor1700 cm < d <= 1775 cm45 cmfor1775 cm < d <= 1850 cm46 cmfor1850 cm < d <= 1950 cm47 cmfor1950 cm < d <= 2025 cm48 cmfor2025 cm < d <= 2125 cm49 cmfor2125 cm < d <= 2225 cm50 cmfor2225 cm < d <= 2350 cm51 cmfor2350 cm < d <= 2475 cm52 cmfor2475 cm < d <= 2600 cm53 cmfor2600 cm < d <= 2750 cm54 cmfor2750 cm < d <= 2900 cm55 cmfor2900 cm < d <= 3075 cm56 cmfor3075 cm < d <= 3250 cm57 cmfor3250 cm < d <= 3475 cm58 cmfor3475 cm < d <= 3750 cm59 cmfor3750 cm < d <= 4100 cm60 cmfor4100 cm < d <= 4550 cm61 cmfor4550 cm < d <= 5175 cm62 cmfor5175 cm < d <= 5950 cm63 cmford > 5950 cmDistance-dependent part values for channel 5, 16 MHz PRF:
0 cmfor0 cm <= d <= 25 cm2 cmfor25 cm < d <= 50 cm3 cmfor50 cm < d <= 75 cm4 cmfor75 cm < d <= 100 cm5 cmfor100 cm < d <= 125 cm6 cmfor125 cm < d <= 150 cm8 cmfor150 cm < d <= 175 cm9 cmfor175 cm < d <= 200 cm10 cmfor200 cm < d <= 225 cm11 cmfor225 cm < d <= 275 cm12 cmfor275 cm < d <= 300 cm13 cmfor300 cm < d <= 350 cm14 cmfor350 cm < d <= 375 cm15 cmfor375 cm < d <= 400 cm16 cmfor400 cm < d <= 450 cm17 cmfor450 cm < d <= 500 cm18 cmfor500 cm < d <= 525 cm19 cmfor525 cm < d <= 575 cm20 cmfor575 cm < d <= 625 cm21 cmfor625 cm < d <= 675 cm22 cmfor675 cm < d <= 725 cm23 cmfor725 cm < d <= 775 cm24 cmfor775 cm < d <= 850 cm25 cmfor850 cm < d <= 900 cm26 cmfor900 cm < d <= 950 cm27 cmfor950 cm < d <= 1025 cm28 cmfor1025 cm < d <= 1100 cm29 cmfor1100 cm < d <= 1200 cm30 cmfor1200 cm < d <= 1325 cm31 cmfor1325 cm < d <= 1475 cm32 cmfor1475 cm < d <= 1700 cm33 cmfor1700 cm < d <= 2075 cm34 cmfor2075 cm < d <= 3000 cm35 cmfor3000 cm < d <= 3700 cm36 cmford > 3700 cmDistance-dependent part values for channel 7, 16 MHz PRF:
0 cmfor0 cm <= d <= 100 cm1 cmfor100 cm < d <= 125 cm4 cmfor125 cm < d <= 150 cm6 cmfor150 cm < d <= 175 cm9 cmfor175 cm < d <= 200 cm10 cmfor200 cm < d <= 225 cm12 cmfor225 cm < d <= 250 cm14 cmfor250 cm < d <= 275 cm16 cmfor275 cm < d <= 300 cm17 cmfor300 cm < d <= 325 cm19 cmfor325 cm < d <= 350 cm20 cmfor350 cm < d <= 375 cm21 cmfor375 cm < d <= 400 cm22 cmfor400 cm < d <= 425 cm24 cmfor425 cm < d <= 450 cm25 cmfor450 cm < d <= 475 cm26 cmfor475 cm < d <= 500 cm27 cmfor500 cm < d <= 525 cm28 cmfor525 cm < d <= 550 cm29 cmfor550 cm < d <= 575 cm30 cmfor575 cm < d <= 625 cm31 cmfor625 cm < d <= 650 cm32 cmfor650 cm < d <= 675 cm33 cmfor675 cm < d <= 725 cm34 cmfor725 cm < d <= 750 cm35 cmfor750 cm < d <= 775 cm36 cmfor775 cm < d <= 800 cm37 cmfor800 cm < d <= 850 cm38 cmfor850 cm < d <= 875 cm39 cmfor875 cm < d <= 900 cm40 cmfor900 cm < d <= 950 cm41 cmfor950 cm < d <= 975 cm42 cmfor975 cm < d <= 1000 cm43 cmfor1000 cm < d <= 1050 cm44 cmfor1050 cm < d <= 1100 cm45 cmfor1100 cm < d <= 1150 cm46 cmfor1150 cm < d <= 1200 cm47 cmfor1200 cm < d <= 1250 cm48 cmfor1250 cm < d <= 1300 cm49 cmfor1300 cm < d <= 1375 cm50 cmfor1375 cm < d <= 1450 cm51 cmfor1450 cm < d <= 1525 cm52 cmfor1525 cm < d <= 1600 cm53 cmfor1600 cm < d <= 1700 cm54 cmfor1700 cm < d <= 1800 cm55 cmfor1800 cm < d <= 1875 cm56 cmfor1875 cm < d <= 2000 cm57 cmfor2000 cm < d <= 2125 cm58 cmfor2125 cm < d <= 2300 cm59 cmfor2300 cm < d <= 2525 cm60 cmfor2525 cm < d <= 2800 cm61 cmfor2800 cm < d <= 3175 cm62 cmfor3175 cm < d <= 3675 cm63 cmfor3675 cm < d <= 4200 cm64 cmfor4200 cm < d <= 4550 cm65 cmfor4550 cm < d <= 4850 cm66 cmfor4850 cm < d <= 5125 cm67 cmford > 5125 cmDistance-dependent part values for channel 1, 64 MHz PRF:
0 cmfor0 cm <= d <= 25 cm1 cmfor25 cm < d <= 50 cm3 cmfor50 cm < d <= 75 cm4 cmfor75 cm < d <= 100 cm5 cmfor100 cm < d <= 125 cm6 cmfor125 cm < d <= 175 cm7 cmfor175 cm < d <= 250 cm8 cmfor250 cm < d <= 325 cm9 cmfor325 cm < d <= 400 cm10 cmfor400 cm < d <= 475 cm11 cmfor475 cm < d <= 550 cm12 cmfor550 cm < d <= 600 cm13 cmfor600 cm < d <= 675 cm14 cmfor675 cm < d <= 750 cm15 cmfor750 cm < d <= 800 cm16 cmfor800 cm < d <= 875 cm17 cmfor875 cm < d <= 950 cm18 cmfor950 cm < d <= 1075 cm19 cmfor1075 cm < d <= 1200 cm20 cmfor1200 cm < d <= 1400 cm21 cmfor1400 cm < d <= 1950 cm22 cmfor1950 cm < d <= 2525 cm23 cmfor2525 cm < d <= 3000 cm24 cmfor3000 cm < d <= 3925 cm25 cmford > 3925 cmDistance-dependent part values for channel 2, 64 MHz PRF:
0 cmfor0 cm <= d <= 25 cm1 cmfor25 cm < d <= 50 cm3 cmfor50 cm < d <= 75 cm4 cmfor75 cm < d <= 100 cm6 cmfor100 cm < d <= 150 cm7 cmfor150 cm < d <= 225 cm8 cmfor225 cm < d <= 300 cm9 cmfor300 cm < d <= 350 cm10 cmfor350 cm < d <= 425 cm11 cmfor425 cm < d <= 475 cm12 cmfor475 cm < d <= 525 cm13 cmfor525 cm < d <= 600 cm14 cmfor600 cm < d <= 650 cm15 cmfor650 cm < d <= 700 cm16 cmfor700 cm < d <= 775 cm17 cmfor775 cm < d <= 825 cm18 cmfor825 cm < d <= 925 cm19 cmfor925 cm < d <= 1050 cm20 cmfor1050 cm < d <= 1225 cm21 cmfor1225 cm < d <= 1700 cm22 cmfor1700 cm < d <= 2225 cm23 cmfor2225 cm < d <= 2625 cm24 cmfor2625 cm < d <= 3450 cm25 cmford > 3450 cmDistance-dependent part values for channel 3, 64 MHz PRF:
0 cmfor0 cm <= d <= 25 cm2 cmfor25 cm < d <= 50 cm3 cmfor50 cm < d <= 75 cm5 cmfor75 cm < d <= 100 cm6 cmfor100 cm < d <= 125 cm7 cmfor125 cm < d <= 200 cm8 cmfor200 cm < d <= 250 cm9 cmfor250 cm < d <= 325 cm10 cmfor325 cm < d <= 375 cm11 cmfor375 cm < d <= 425 cm12 cmfor425 cm < d <= 475 cm13 cmfor475 cm < d <= 525 cm14 cmfor525 cm < d <= 575 cm15 cmfor575 cm < d <= 625 cm16 cmfor625 cm < d <= 675 cm17 cmfor675 cm < d <= 750 cm18 cmfor750 cm < d <= 825 cm19 cmfor825 cm < d <= 925 cm20 cmfor925 cm < d <= 1100 cm21 cmfor1100 cm < d <= 1500 cm22 cmfor1500 cm < d <= 1975 cm23 cmfor1975 cm < d <= 2325 cm24 cmfor2325 cm < d <= 3050 cm25 cmford > 3050 cmDistance-dependent part values for channel 4, 64 MHz PRF:
0 cmfor0 cm <= d <= 175 cm1 cmfor175 cm < d <= 200 cm3 cmfor200 cm < d <= 225 cm5 cmfor225 cm < d <= 250 cm6 cmfor250 cm < d <= 275 cm7 cmfor275 cm < d <= 300 cm8 cmfor300 cm < d <= 325 cm10 cmfor325 cm < d <= 350 cm11 cmfor350 cm < d <= 375 cm12 cmfor375 cm < d <= 400 cm14 cmfor400 cm < d <= 425 cm15 cmfor425 cm < d <= 450 cm16 cmfor450 cm < d <= 475 cm18 cmfor475 cm < d <= 500 cm19 cmfor500 cm < d <= 525 cm20 cmfor525 cm < d <= 550 cm21 cmfor550 cm < d <= 600 cm22 cmfor600 cm < d <= 625 cm23 cmfor625 cm < d <= 675 cm24 cmfor675 cm < d <= 700 cm25 cmfor700 cm < d <= 725 cm26 cmfor725 cm < d <= 750 cm27 cmfor750 cm < d <= 800 cm28 cmfor800 cm < d <= 825 cm29 cmfor825 cm < d <= 850 cm30 cmfor850 cm < d <= 875 cm31 cmfor875 cm < d <= 925 cm32 cmfor925 cm < d <= 975 cm33 cmfor975 cm < d <= 1025 cm34 cmfor1025 cm < d <= 1075 cm35 cmfor1075 cm < d <= 1125 cm36 cmfor1125 cm < d <= 1200 cm37 cmfor1200 cm < d <= 1250 cm38 cmfor1250 cm < d <= 1325 cm39 cmfor1325 cm < d <= 1400 cm40 cmfor1400 cm < d <= 1500 cm41 cmfor1500 cm < d <= 1600 cm42 cmfor1600 cm < d <= 1700 cm43 cmfor1700 cm < d <= 1850 cm44 cmfor1850 cm < d <= 2025 cm45 cmfor2025 cm < d <= 2225 cm46 cmfor2225 cm < d <= 2450 cm47 cmfor2450 cm < d <= 2725 cm48 cmfor2725 cm < d <= 3050 cm49 cmfor3050 cm < d <= 3400 cm50 cmfor3400 cm < d <= 3650 cm51 cmfor3650 cm < d <= 3850 cm52 cmfor3850 cm < d <= 4050 cm53 cmfor4050 cm < d <= 4450 cm54 cmfor4450 cm < d <= 5500 cm55 cmfor5500 cm < d <= 6225 cm56 cmford > 6225 cmDistance-dependent part values for channel 5, 64 MHz PRF:
0 cmfor0 cm <= d <= 25 cm3 cmfor25 cm < d <= 50 cm5 cmfor50 cm < d <= 75 cm6 cmfor75 cm < d <= 100 cm7 cmfor100 cm < d <= 150 cm8 cmfor150 cm < d <= 175 cm9 cmfor175 cm < d <= 225 cm10 cmfor225 cm < d <= 250 cm11 cmfor250 cm < d <= 300 cm12 cmfor300 cm < d <= 325 cm13 cmfor325 cm < d <= 375 cm14 cmfor375 cm < d <= 400 cm15 cmfor400 cm < d <= 425 cm16 cmfor425 cm < d <= 475 cm17 cmfor475 cm < d <= 525 cm18 cmfor525 cm < d <= 575 cm19 cmfor575 cm < d <= 650 cm20 cmfor650 cm < d <= 750 cm21 cmfor750 cm < d <= 1050 cm22 cmfor1050 cm < d <= 1375 cm23 cmfor1375 cm < d <= 1625 cm24 cmfor1625 cm < d <= 2125 cm25 cmford > 2125 cmDistance-dependent part values for channel 7, 64 MHz PRF:
0 cmfor0 cm <= d <= 100 cm1 cmfor100 cm < d <= 125 cm4 cmfor125 cm < d <= 150 cm6 cmfor150 cm < d <= 175 cm8 cmfor175 cm < d <= 200 cm10 cmfor200 cm < d <= 225 cm12 cmfor225 cm < d <= 250 cm15 cmfor250 cm < d <= 275 cm17 cmfor275 cm < d <= 300 cm18 cmfor300 cm < d <= 325 cm20 cmfor325 cm < d <= 350 cm21 cmfor350 cm < d <= 375 cm22 cmfor375 cm < d <= 400 cm24 cmfor400 cm < d <= 425 cm25 cmfor425 cm < d <= 450 cm26 cmfor450 cm < d <= 475 cm28 cmfor475 cm < d <= 500 cm29 cmfor500 cm < d <= 525 cm30 cmfor525 cm < d <= 550 cm31 cmfor550 cm < d <= 575 cm32 cmfor575 cm < d <= 600 cm33 cmfor600 cm < d <= 625 cm34 cmfor625 cm < d <= 650 cm35 cmfor650 cm < d <= 700 cm36 cmfor700 cm < d <= 725 cm37 cmfor725 cm < d <= 775 cm38 cmfor775 cm < d <= 825 cm39 cmfor825 cm < d <= 875 cm40 cmfor875 cm < d <= 925 cm41 cmfor925 cm < d <= 975 cm42 cmfor975 cm < d <= 1050 cm43 cmfor1050 cm < d <= 1150 cm44 cmfor1150 cm < d <= 1250 cm45 cmfor1250 cm < d <= 1350 cm46 cmfor1350 cm < d <= 1500 cm47 cmfor1500 cm < d <= 1675 cm48 cmfor1675 cm < d <= 1875 cm49 cmfor1875 cm < d <= 2075 cm50 cmfor2075 cm < d <= 2250 cm51 cmfor2250 cm < d <= 2375 cm52 cmfor2375 cm < d <= 2500 cm53 cmfor2500 cm < d <= 2750 cm54 cmfor2750 cm < d <= 3375 cm55 cmfor3375 cm < d <= 3825 cm56 cmfor3825 cm < d <= 4300 cm57 cmfor4300 cm < d <= 4800 cm58 cmford > 4800 cmThe text was updated successfully, but these errors were encountered: