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--- doc:lps:twr-reference-setup [2018-01-22 16:12]
bjorn
+++ doc:lps:twr-reference-setup [2018-01-23 11:14]
macke
@@ Line 1: / Line 1: @@
-====== Prerequisites ======
+====== Reference set-up using 6 anchors (TWR) ======
-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 based on the [[https://store.bitcraze.io/collections/bundles/products/indoor-explorer-bundle|Indoor explorer bundle]] which contains the following:
+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.
-  * 6 x Loco positioning node
-  * 1 x Crazyflie 2.0
-  * 1 x Loco positioning deck
-  * 1 x Crazyradio PA
-====== Reference set-up ======
+{{:doc:lps:loco_ref_system_6_anchors.png?1200|}}
-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.
+====== Reference set-up using 8 anchors (TDoA/TWR) ======
-This is the reference system from which measurement where taken:
+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_6_anchors.png?1200|}}
-{{ :doc:lps:crazyflie_isometric_drawing_2.png?600 |}}
+{{:doc:lps:loco_ref_system_8.png?1200|}}
-====== Measurements taken from our reference set-up ======
+====== Crazyflie initial positioning ======
+When starting the Crazyflie in the LPS it should be positioned according to the image below.
-To validate the system we took a series of measurement from the reference system. You can see the results in the page [[misc:investigations:lps-precision|Measurements of accuracy and precision of the Loco Positioning system]].
+{{ :doc:lps:crazyflie_isometric_drawing_2.png?600 |}}

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