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misc:investigations:lps-precision [2017-05-04 17:32] arnaud |
misc:investigations:lps-precision [2017-05-11 16:04] kristoffer |
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==== The results ==== | ==== The results ==== | ||
- | ^ Physical position ^^^ Average estimated position ^^^ Std deviation | + | ^ Physical position ^^^ Average estimated position |
- | ^ X ^ Y ^ Z ^ X ^ Y ^ Z ^ X ^ Y ^ Z ^ | + | ^ X ^ Y ^ Z ^ X ^ Err ^ Y ^ Err ^ Z ^ Err ^ X ^ Y ^ Z ^ |
- | | 1.62 | 3.15 | -0.15 | 1.66 | 3.18 | 0.29 | 0.014 | 0.0097 | 0.0061 | | + | | 1.62 | 3.15 | -0.15 | 1.66 |0.04 | 3.18 |0.03 | 0.29 |0.44 | 0.014 | 0.0097 | 0.0061 | |
- | | 2.95 | 0.00 | -0.15 | 2.80 | 0.12 | 0.16 | 0.0072 | 0.010 | 0.0053 | | + | | 2.95 | 0.00 | -0.15 | 2.80 |-0.15| 0.12 |0.12 | 0.16 |0.31 | 0.0072 | 0.010 | 0.0053 | |
- | | 1.62 | 3.15 | 1.44 | 1.56 | 3.02 | 1.37 | 0.020 | 0.0066 | 0.016 | | + | | 1.62 | 3.15 | 1.44 | 1.56 |0.06 | 3.02 |-0.13| 1.37 |-0.07| 0.020 | 0.0066 | 0.016 | |
- | | 1.62 | 4.80 | 1.44 | 1.67 | 4.64 | 1.40 | 0.013 | 0.0093 | 0.013 | | + | | 1.62 | 4.80 | 1.44 | 1.67 |0.03 | 4.64 |-0.16| 1.40 |-0.27| 0.013 | 0.0093 | 0.013 | |
===== Measurement of accuracy and noise of 3D estimate and ranges ===== | ===== Measurement of accuracy and noise of 3D estimate and ranges ===== | ||
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==== Setup ==== | ==== Setup ==== | ||
- | The system is setup with 6 anchors and one Crazyflie ranging in two-way-ranging mode. | + | The system is setup with 6 anchors and one Crazyflie ranging in two-way-ranging mode. The Crazyflie in static position without movement. |
=== Positions === | === Positions === | ||
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* Raw range measurement (not taken at the same time as the kalman estimate): https:// | * Raw range measurement (not taken at the same time as the kalman estimate): https:// | ||
+ | === Analysis === | ||
+ | |||
+ | == Estimated position == | ||
+ | |||
+ | ^ Physical position ^^^ Average estimated position ^^^^^^ Std-dev of estimated position ^^^ Average error ^ | ||
+ | ^ X ^ Y ^ Z ^ X ^ Err ^ Y ^ Err ^ Z ^ Err ^ X ^ Y ^ Z ^ distance ^ | ||
+ | | 5.00 | 1.50 | 0.76 | 4.96 | 0.017 | 1.60 | 0.041 | -0.096 | -0.213 | 0.017 | 0.018 | 0.015 | 0.237 | | ||
+ | |||
+ | == Raw range measurements == | ||
+ | |||
+ | Physical distances from Crazyflie to anchors are calculated from positions of anchors and the Crazyflie. | ||
+ | |||
+ | Average and standard deviations are calculated on all data, including outliers. | ||
+ | |||
+ | The main part of the error should be the caused by the antenna delay, expected to be the same for all anchors. | ||
+ | |||
+ | ^ ^ Physical ^ Raw range measurements ^^^ | ||
+ | ^ Anchor ^ Distance ^ Average ^ Std dev ^ Err ^ | ||
+ | | 0 | 2.80 | 2.46 | 0.025 | 0.34 | | ||
+ | | 1 | 2.87 | 2.58 | 0.006 | 0.30 | | ||
+ | | 2 | 2.69 | 2.30 | 0.002 | 0.40 | | ||
+ | | 3 | 2.77 | 2.55 | 0.017 | 0.22 | | ||
+ | | 4 | 2.27 | 1.97 | 0.041 | 0.29 | | ||
+ | | 5 | 2.20 | 1.90 | 0.008 | 0.30 | | ||