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Ultra-wideband (UWB) wireless technology has seen an increased penetration inthe robotics field as a robust localization method in recent years. UWB enableshigh accuracy distance estimation from time-of-flight measurements of wirelesssignals, even in non-line-of-sight measurements. UWB-based localization systemshave been utilized in various types of GNSS-denied environments for ground oraerial autonomous robots. However, most of the existing solutions rely on afixed and well-calibrated set of UWB nodes, or anchors, to estimate accuratelythe position of other mobile nodes, or tags, through multilateration. Thislimits the applicability of such systems for dynamic and ad-hoc deployments,such as post-disaster scenarios where the UWB anchors could be mounted onmobile robots to aid the navigation of UAVs or other robots. We introduce acollaborative algorithm for online autocalibration of anchor positions,enabling not only ad-hoc deployments but also movable anchors, based onDecawave's DWM1001 UWB module. Compared to the built-in autocalibration processfrom Decawave, we drastically reduce the amount of calibration time andincrease the accuracy at the same time. We provide both experimentalmeasurements and simulation results to demonstrate the usability of thisalgorithm.

Autocalibration of a Mobile UWB Localization System for Ad-Hoc Multi-Robot Deployments in GNSS-Denied Environments