A test environment for phase-based ranging and localization

This paper introduces a test environment to evaluate phase-based ranging and localization techniques. It consists of a Continous Integration system for automated tests on real hardware and a testbed to evaluate system performance under realistic conditions. A modular architecture fulfilling the special requirements of phase-based ranging evaluations is proposed. The architecture can be deployed using diverse hardware to allow great flexibility in experiment designs. Further, we present a deployment of the testbed architecture based on off-the-shelf Single-Board Computers and our own wireless sensor node in our university building.