csbebetter / rfid_xyz

Realize the positioning and tracking of the known initial position tag with four antennas

rfid_xyz::Multi-antenna to realize the positioning and tracking of tags

Introduction

In this code, we use the impinj reader and write the code based on the official ltkcpp library. This code has many deficiencies and specifications, and will be gradually revised and improved

Getting started

Requirements

Please configure ROS and python

mkdir -p ~/catkin_ws/src
cd src
catkin_init_workspace
# Clone the files in src into the src directory you created
cd ~/catkin_ws/
catkin_make

running

Before using this code, please manually calibrate the position of the antenna and the initial position of the tag

In files: src/rfid_reader/script/Levenberg_Marquarelt_algorithm.py src/rfid_reader/ltkcpp/include/RFIDHandler.h

roscore
rosrun rfid_reader rfid_publisher
rosrun rfid_reader phase_xyz.py