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misc:investigations:lps-precision [2017-05-11 14:12] tobias [The results] |
misc:investigations:lps-precision [2017-05-11 15:46] kristoffer |
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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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=== Analysis === | === Analysis === | ||
- | Anchor 0 is at 2.80m of the Crazyflie. | + | == Estimated position == |
+ | ^ Physical position ^^^ Average estimated position ^^^^^^ Std-dev of estimated position ^^^ | ||
+ | ^ X ^ Y ^ Z ^ X ^ Err ^ Y ^ Err ^ Z ^ Err ^ X ^ Y ^ Z ^ | ||
+ | | 5.00 | 1.50 | 0.76 | 4.96 | 0.017 | 1.60 | 0.041 | -0.096 | -0.213 | 0.017 | 0.018 | 0.015 | | ||
+ | == 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 | | ||