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doc:lps:index [2017-04-10 14:15] arnaud |
doc:lps:index [2017-12-18 15:10] arnaud [System set-up] |
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- | <WRAP center round info> | ||
- | **IMPORTANT** | ||
- | We're currently working on updating the documentation for the Loco positioning system. Until the documentation is completed you can find the 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: | ||
+ | ===== Protocols ===== | ||
+ | * [[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:// | + | ====== Experimental functionality ====== |
- | + | | |
- | ==== Prerequisites | + | |
- | + | | |
- | In order to illustrate how to set up a system we document a reference system and how we've set it up. The referance system is base on the [[https:// | + | |
- | * 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 | + | |
- | <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:lps:tools# | + | |
- | + | ||
- | 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:// | + | |
- | + | ||
- | {{:doc:lps:locorefdist.png? | + | |
- | + | ||
- | 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 | + | |
- | + | ||
- | ==== 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: | + | |