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Having access to accurate position information is a key requirement for many wireless sensor network applications. The authors present the design, implementation and evaluation of SpiderBat, an ultrasound-based ranging platform designed to augment existing sensor nodes with distance and angle information. SpiderBat features independently controllable ultrasound transmitters and receivers, in all directions of the compass. Using a digital compass, nodes can learn about their orientation, and combine this information with distance and angle measurements using ultrasound. To the best of their knowledge, SpiderBat is the first ultrasound-based sensor node platform that can measure absolute angles between sensor nodes accurately.
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