misc:investigations:lps-precision
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| Both sides previous revision Previous revision Next revision | Previous revision | ||
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misc:investigations:lps-precision [2017-05-04 17:32] arnaud |
misc:investigations:lps-precision [2021-06-24 16:39] (current) kimberly |
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| + | <WRAP center round important 60%> | ||
| + | This page has deprecated and will be archived. Please go to [[https:// | ||
| + | </ | ||
| ====== Measurements of accuracy and precision of the Loco Positioning system ====== | ====== Measurements of accuracy and precision of the Loco Positioning system ====== | ||
| Line 16: | Line 19: | ||
| ==== 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 | |
| + | [[https:// | ||
| ===== Measurement of accuracy and noise of 3D estimate and ranges ===== | ===== Measurement of accuracy and noise of 3D estimate and ranges ===== | ||
| ==== 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 === | ||
| Line 46: | Line 50: | ||
| * 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 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/lps-precision.1493911974.txt.gz · Last modified: 2017-05-04 17:32 by arnaud
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