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 [2017-05-11 14:36] kristoffer |
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 ====== | ||
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| | 1.62 | 4.80 | 1.44 | 1.67 |0.03 | 4.64 |-0.16| 1.40 |-0.27| 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 48: | Line 52: | ||
| === Analysis === | === Analysis === | ||
| - | Physical distances from Crazyflie to anchors, calculated from positions | + | == Estimated position == |
| - | ^ Anchor | + | ^ Physical position |
| - | | | + | ^ X ^ Y ^ Z ^ X ^ Err ^ Y ^ Err ^ Z ^ Err ^ X ^ Y ^ Z ^ distance |
| - | | 1 | 2.87 | | + | | 5.00 | 1.50 | 0.76 | 4.96 | 0.017 | 1.60 | 0.041 | -0.096 |
| - | | | + | |
| - | | | + | |
| - | | | + | |
| - | | 5 | 2.20 | | + | |
| + | == 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.1494506206.txt.gz · Last modified: 2017-05-11 14:36 by kristoffer
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