Bitcraze Forums

Hi, I don't understand exactly what are the changes of the new tdoa in the master compared to the experimental tdoa2. I'm not referring to the changes related to the system but to those specific to the tdoa algorithm. In rxcallback() and calcClockCorrection() I can't see major changes regarding this...

I've done various tests to try to mild the possible correlation among the TDOAs, the results (so far) are really mixed, in some areas it really improved the outcome but in other it either worsen it or had little to no effect. I'm not sure if there's a proper method to do this, so far I'm proceeding ...

Thank you, that makes it clear about the time of flight. What would you say about my other questions berfore? I think the position being shifted to the center is the same behaviour that I described in the first post but more regular because of the more regular anchors' placement. I checked the error...

Checking around I found that the Time of flight in uint16_t distances[LOCODECK_NR_OF_ANCHORS]; its different from what I would've expected. The values that it gets with my configuration go around 33000-34000 clock ticks. Multiplying this for SPEED_OF_LIGHT / LOCODECK_TS_FREQ yelds 155-157 meters. I ...

Hi kristoffer, Do you mean that it is shifted to the wrong position or closer to the true position? I'll make an example, the cube of anchors have a center point (more or less)... if I measure the tag position near that point the measure is very precise, if I move the tag away from it the measured p...

Hi, now I have 8 anchors placed as a cube and I also upgraded them to TDoAv2. What I'm seeing now is that the position that I get (with least sqares) is shifted toward the center of the cube... by a lot, it moves just a little. I also tried to modify the method that I used so to utilize the same TDO...

Thank you for your answer kristofer. So far I've test only inside the convex hull. Until then you might find this paper interesting Yes, I already found that paper but it seemed a bit too difficult to put into practical use. I'll check it again though. It sounds a bit weird that you see problems on ...

Hi, I'm integrating your TDOA location system in ardupilot. I'm using anchors with your firmware(old tdoa) but the UAV runs arducopter. To calculate the position I'm using a least squares on a linearized system. The code I use to get distance differences is similar to yours but always referred to an...

Hi, I'm having troubles configuring the dwm1000 in my drone to receive tdoa packets from the lps node (set up as tdoa mode, id 0). I tried to copy the configuration from the crazyflie (i.e. locodeck.c and libdw1000.c) but so far I'm not receiving anything. Sorry, I know this is a really vague questi...

Basically I just wanted a confirmation that aside anchors position there's no needed communication.
I apologize for being unclear, in my head sounded right.