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User Story #83

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Epic #6: EPIC — Frame accuracy & mesh solve reliability

CoA I · Heterogeneous layered mesh (UWB + acoustic + IMU) for sub-cm relative

User Story #83: CoA I · Heterogeneous layered mesh (UWB + acoustic + IMU) for sub-cm relative

Added by knight8241 about 1 month ago.

Status:
New
Priority:
Medium
Assignee:
-
Target version:
v1.0.0
Start date:
08/07/2026
Due date:
% Done:

0%

Estimated time:

Description

Imported from the Aether local task tracker (task ref: #73).
Tasker: Claude Code agent (on behalf of runknight / )

ISSUES ENCOUNTERED
Consumer UWB can't reach sub-cm on a mover (ToF/bandwidth/multipath floor). Parked per directive: accept reduced accuracy and refocus on reliable solving first.

SOLUTION
Planned (parked): an acoustic-ranging subsystem (ultrasonic chirp ToF, cm–sub-cm relative) layered over the shared band + a σ-weighted joint multi-modal factor-graph solver; sub-cm relative in a huddle zone, cm absolute from UWB, consumer-only. Captured in MISSION_AND_FEASIBILITY §12 (CoA I).

COMMITS

  • 7f523f0 (runknight-mofe/tome-client)

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