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- | <WRAP center round info 60%> | ||
- | We're currently working on updating the documentation for the Loco positioning system. Util the documentation is completed you can find the old early access documentation [[doc: | ||
- | </ | ||
- | |||
====== Loco positioning system ====== | ====== Loco positioning system ====== | ||
- | The Loco Positioning system (LPS) project is a set of hardware and software designed to implement a local positioning system | + | The Loco Positioning system (LPS) project is a set of hardware and software designed to implement a local positioning system. |
+ | * [[projects: | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
+ | * [[https:// | ||
- | ===== System overview ===== | + | ====== Terminology ====== |
+ | |||
+ | To make the documentation easier to grasp there' | ||
+ | * **Deck and node:** These refer to pieces of hardware ([[projects: | ||
+ | * **Tag and anchor:** These refer to roles when ranging (i.g depending on configuration a node can act as either a tag or an anchor) | ||
+ | * **Ranging mode:** The protocol used for communicating between tags/ | ||
+ | |||
+ | ====== System overview | ||
The local positioning system is based on the [[http:// | The local positioning system is based on the [[http:// | ||
- | The system supports a number of different modes: | + | ====== Documentation subjects ====== |
- | * ToA ([[doc: | + | |
- | * TDMA (experimental) | + | |
- | * [[doc: | + | |
- | ===== Getting started | + | ===== System set-up |
+ | * [[doc: | ||
+ | * [[doc: | ||
+ | * [[doc: | ||
+ | * [[doc: | ||
+ | * [[doc: | ||
+ | ===== Protocols ===== | ||
+ | * [[doc: | ||
+ | * [[doc: | ||
+ | * [[doc: | ||
- | This getting started documentation is intended to guide you from receiving your Loco Positioning Indoor Explorer Bundle to having an autonomous Crazyflie 2.0. | ||
- | ==== Tools ==== | + | ===== Tools ===== |
For working with the Loco positioning system there' | For working with the Loco positioning system there' | ||
- | * [[doc: | + | * [[doc: |
* [[doc: | * [[doc: | ||
* [[doc: | * [[doc: | ||
- | + | * [[https:// | |
- | It is also possible to script movements using the [[https:// | + | |
- | + | ||
- | ==== Prerequisites ==== | + | |
- | + | ||
- | In order to illustrate | + | |
- | * 6 x Loco positioning node | + | |
- | * 1 x Crazyflie 2.0 | + | |
- | * 1 x Loco positioning deck | + | |
- | * 1 x Crazyradio PA | + | |
- | + | ||
- | + | ||
- | ==== Preparing the Crazyflie 2.0 ==== | + | |
- | + | ||
- | The Kalman filter used position Crazyflie in the LPS is not yet part of the default firmware so you need to compile the Crazyflie firmware with Kalman support activated. Clone or pull the latest version from Github and put the following lines in your tools/ | + | |
- | <file make config.mk> | + | |
- | ESTIMATOR = kalman | + | |
- | </ | + | |
- | + | ||
- | Compile and flash the Crazyflie: | + | |
- | < | + | |
- | make clean | + | |
- | make | + | |
- | make cload | + | |
- | </ | + | |
- | + | ||
- | <WRAP center round info> | + | |
- | For "make cload" to work, you need to have the [[https:// | + | |
- | </ | + | |
- | + | ||
- | ==== Preparing the LPS nodes ==== | + | |
- | + | ||
- | Use the [[doc: | + | |
- | + | ||
- | The nodes should be placed at least 15 cm away from walls or ceiling. In our reference set-up we accomplish this by using [[https:// | + | |
- | + | ||
- | {{: | + | |
- | + | ||
- | Power the anchors with 5V using either the micro-USB connector, the terminal or the DJ-jack. | + | |
- | + | ||
- | {{: | + | |
- | + | ||
- | Note; If you're not following our reference set-up for placing the nodes try to space them out at lest 2 meters apart and at different heights (see [[https:// | + | |
- | + | ||
- | The position in X/Y/Z of the anchor UWB antenna needs to be measured. To do so chose an origin (in a square/ | + | |
- | + | ||
- | Use the LPS tab of the Crazyflie client to store the physical anchor positions in the anchors. The communication from the client to the anchors is bridged through a Crazyflie, so you must have a Crazyflie with an Loco Positioning deck connected to the client. | + | |
- | + | ||
- | ==== Reference set-up ==== | + | |
- | In our 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. | + | |
- | + | ||
- | This is the reference system from which measurement where taken: | + | |
- | {{ : | + | |
- | + | ||
- | + | ||
- | ==== Verifying system setup using the PC-client ==== | + | |
- | + | ||
- | The [[doc: | + | |
- | + | ||
- | ==== Measurements taken from our reference set-up ==== | + | |
- | + | ||
- | To validate the system we took a series of measurement from the reference system. You can see the results in the page [[misc: | + | |