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 .