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doc:lps:twr-reference-setup [2018-01-22 16:12] bjorn |
doc:lps:twr-reference-setup [2020-05-12 14:10] (current) kimberly |
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- | ====== Prerequisites ====== | + | <WRAP center round important 60%> |
+ | This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https:// | ||
+ | </ | ||
- | 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:// | ||
- | * 6 x Loco positioning node | ||
- | * 1 x Crazyflie 2.0 | ||
- | * 1 x Loco positioning deck | ||
- | * 1 x Crazyradio PA | ||
- | ====== Reference set-up ====== | + | ====== 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 reference system can be used to position in Two-way ranging mode (TWR). |
- | This is the reference system from which measurement where taken: | ||
{{: | {{: | ||
- | {{ :doc:lps:crazyflie_isometric_drawing_2.png?600 |}} | + | ====== Reference set-up using 8 anchors (TDoA/TWR) ====== |
+ | |||
+ | 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_8.png?1200|}} | ||
- | ====== 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: |