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--- misc:investigations:lps-precision [2017-03-24 09:11]
kristoffer
+++ misc:investigations:lps-precision [2021-06-24 16:39] (current)
kimberly
@@ Line 1: / Line 1: @@
+<WRAP center round important 60%>
+This page has deprecated and will be archived. Please go to [[https://www.bitcraze.io/]].
+</WRAP>
 ====== Measurements of accuracy and precision of the Loco Positioning system ======
@@ Line 6: / Line 9: @@
 These measurements are in no way meant to be a specification of the system properties of the Loco Positioning system, but are intended to give an indication of the performance.
+===== Multiple measurements in reference system =====
 ==== The reference system ====
@@ Line 14: / Line 19: @@
 ==== The results ====
-^ Physical position ^^^ Average estimated position ^^^ Std deviation of estimated position ^^^
+^ Physical position ^^^ Average estimated position ^^^^^^ Std-dev of 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 |
+[[https://docs.google.com/spreadsheets/d/1ggHmUmRQ1N15vgPnumlmCsrpjw32Cm7DYKf-GYCoKck|Measurements]]
+===== Measurement of accuracy and noise of 3D estimate and ranges =====
+==== Setup ====
+The system is setup with 6 anchors and one Crazyflie ranging in two-way-ranging mode. The Crazyflie in static position without movement.
+=== Positions ===
+^ Anchor ^ X ^ Y ^ Z ^
+|  0  | 3.01 | 0.57 | 2.5 |
+|  1  | 3.01 | 2.63 | 2.5 |
+|  2  | 6.53 | 2.27 | 2.84 |
+|  3  | 6.53 | 0.51 | 2.84 |
+|  4  | 2.91 | 0.86 | 0.16 |
+|  5  | 6.95 | 2.32 | 0.16 |
+Crazyflie: (x,y,z) = (5.00, 1.50, 0.76)
+=== Measurements ===
+  * Kalman filter 3D estimated position: https://mega.nz/#!jZY3CQob!EbbFd8-FHXZr28lo-nc-79_dmGxyKDwND7eNsmzhcUc
+  * Raw range measurement (not taken at the same time as the kalman estimate): https://mega.nz/#!mQJABKgR!l90bytQWkYyEMHBRFO4o-UsI2RJ4gY2ldRwWnoxq8hw
+=== 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 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 |
+== Histogram over raw range measurements ==
+{{:misc:investigations:hist_ref_setup.png?direct|}}

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