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====== Reference set-up using 6 anchors (TWR) ======

This reference system can be used to position in Two-way ranging mode (TWR). In this reference setup we have placed 3 anchors above and 3 anchors bellow the flight area, shaped in inverse triangles. This allows to get good accuracy in X, Y and Z. There are [[misc:investigations:lps-precision|measurements of accuracy and precision]] for this reference system.

{{:doc:lps:loco_ref_system_6_anchors.png?1200|}}

====== Reference set-up using 8 anchors (TDoA/TWR) ======

This reference system can be used to position in Two-Way Ranging mode (TWR) and Time Difference of Arrival mode (TDoA). In this reference setup we have placed 4 anchors above and 4 anchors bellow the flight area, shaped like a box. Note the numbering of the anchors, this allows to get good accuracy in X, Y and Z. 

{{:doc:lps:loco_ref_system_8.png?1200|}}