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doc:lighthouse:setup [2019-11-29 15:29]
kristoffer
doc:lighthouse:setup [2019-11-29 15:56] (current)
kristoffer
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 The protocol for the lighthouse is composed of frames starting with sync pulses from the basestations. The sync pulses are used to identify which basestation the frame is originating from and this information is essential for correct positioning. When one basestation is occluded, only sync pulses from the visible basestation will be available to the system, which is fine as long as the the system can keep track of the frames. If we loose track of the frames, for instance if both basestations are occluded, the system has to re-synch again to function, but this is a quick process when the basestations are visible. The protocol for the lighthouse is composed of frames starting with sync pulses from the basestations. The sync pulses are used to identify which basestation the frame is originating from and this information is essential for correct positioning. When one basestation is occluded, only sync pulses from the visible basestation will be available to the system, which is fine as long as the the system can keep track of the frames. If we loose track of the frames, for instance if both basestations are occluded, the system has to re-synch again to function, but this is a quick process when the basestations are visible.
 Due to the design of the lighthouse protocol, visibility to both basestations is always required for synchronization or re-synchronization in a two basestation system. Due to the design of the lighthouse protocol, visibility to both basestations is always required for synchronization or re-synchronization in a two basestation system.
 +
 +===== Position estimation methods =====
 +
 +There are currently two ways of calculating the position using the lighthouse.
 +
 +The first method that was implemented calculates two vectors (or beams) from the basestations,​ based on the sweep angles measured by the sensors on the Crazyflie. The intersection point between the beams is the position of the Crazyflie, and this point is pushed into the estimator. We call this method the "​crossing beam" method. ​
 +A more recent implementation pushes the sweep angles from the base stations into the estimator and lets the kalman filter calculate the position based on this information. This method is called the "sweep angle" method and also works if only one basestation is available. ​
 +It is possible to change positioning method "on the fly" by setting the lighthouse.method parameter. The sweep angle method is the default.
  
  
  
  
doc/lighthouse/setup.txt · Last modified: 2019-11-29 15:56 by kristoffer