ROS based  Indoor/Outdoor Positioning System using Decawave’s DWM1000 Ultra Wide Band transceivers. The whole system was tested indoors with 3 anchors and 1 tag. Technically this should work outdoors as well. The hardware design is open source which  runs on Thomas Trojer‘s Arduino firmware to  drive  the radios.

A screenshot of the beacon’s static transforms and localized tag after trilateration:

Full details on the ROS driver and PCB board are available on my Github account .