Project 2: Design of a Motion Capture System Using Bluetooth Angle of Arrival and Extended Kalman Filter

Project Description

This MSc project aims to design and implement a novel motion capture system that leverages Bluetooth Angle of Arrival (AoA) technology combined with an Extended Kalman Filter (EKF) for accurate and robust pose estimation. This will be achieved by using a Bluetooth transmitter on a robotic test platform, as well as multi Bluetooth receiver arrays, placed strategically within the motion capture volume. The combination of AoA, as well the received signal strength indicator (RSSI) level will then be fused using the EKF in order to give an accurate estimate of the robot position. The system will provide a cost-effective alternative to traditional optical motion capture systems while offering the advantages of wireless technology and advanced state estimation techniques.

Objectives

Investigate the state-of-the-art in Bluetooth AoA technology and its applications in motion capture
Develop a mathematical model for the Bluetooth AoA-based motion capture system
Design and implement an Extended Kalman Filter algorithm for fusing Bluetooth AoA measurements with RSSI and inertial sensor data
Create a prototype of the motion capture system using off-the-shelf Bluetooth hardware and custom software
Evaluate the system's performance in terms of accuracy, latency, and robustness compared to existing motion capture solutions
Write-up of dissertation and conference/journal paper

Expected Outcomes

A functional prototype of the Bluetooth AoA-based motion capture system
Comprehensive analysis of the system's performance and limitations
Comparison with existing motion capture technologies
Documentation of the design process, algorithms, and implementation details
Recommendations for future improvements and potential applications

Relevant Skills

Background in signal processing and state estimation techniques
Proficiency in programming (Python, MATLAB, or similar languages)
Familiarity with Bluetooth technology and wireless communication protocols
Experience with embedded systems and sensor integration