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 Indoor explorer bundle which contains the following:

• 6 x Loco positioning node
• 1 x Crazyflie 2.0
• 1 x Loco positioning deck
• 1 x Crazyradio PA

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:

To validate the system we took a series of measurement from the reference system. You can see the results in the page Measurements of accuracy and precision of the Loco Positioning system.