Implementing TDOA and/or TOA in GTSAM

[Nicolas Perez]

Does anyone know of how I could implement TDOA (time difference of arrival) and/or TOA (time of arrival) localization techniques in GTSAM?

The knowns in my setup are the positions of UWB beacons. We can assume the beacons are time synchronized as well. 

For TOA, my measurement model is simply the time it takes for a signal from my drone to reach a beacon. For TDOA, the measurement model is the difference in time it takes for the signal to reach each beacon. The noise comes from measuring the signal's time of flight. We can assume the signal's time of flight has a gaussian noise of about 1 nanosecond (standard deviation).

Any tips/tricks I should be made aware of? I am not sure how to define the factors/measurement models in GTSAM for both cases.

All help is much appreciated.

[Dellaert, Frank]

/**

 *  @file  testTOAFactor.cpp

 *  @brief Unit tests for "Time of Arrival" factor

 *  @author Frank Dellaert

 *  @author Jay Chakravarty

 *  @date December 2014

 */

in unstable/slam

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