### Measure the reliability of the LPS

Posted:

**Thu Mar 21, 2019 1:54 pm**Hi,

I am working on fusing Visual Inertial Odometry (VIO) with the LPS system. This entails that I wish to be able to quantify how reliable the LPS is so that I can tune how the VIO and LPS affect the pose estimate.

For example, if the CF is outside the convex hull of the anchors, and the measurements are all over the place, I wish to give more weight to the visual odometry (to ensure a stable pose estimate). On the contrary, if the CF is inside the convex hull, I wish that the impact of the LPS is greater than the VIO.

My first idea is to calculate the trailing standard deviation of the error terms of the TDOA measurements. So, if the standard deviation is above a threshold, the weight of the LPS is decreased/totally disregarded.

Are there any other, maybe smarter ways to get a measurement of how reliable the LPS is?

Thanks!

I am working on fusing Visual Inertial Odometry (VIO) with the LPS system. This entails that I wish to be able to quantify how reliable the LPS is so that I can tune how the VIO and LPS affect the pose estimate.

For example, if the CF is outside the convex hull of the anchors, and the measurements are all over the place, I wish to give more weight to the visual odometry (to ensure a stable pose estimate). On the contrary, if the CF is inside the convex hull, I wish that the impact of the LPS is greater than the VIO.

My first idea is to calculate the trailing standard deviation of the error terms of the TDOA measurements. So, if the standard deviation is above a threshold, the weight of the LPS is decreased/totally disregarded.

Are there any other, maybe smarter ways to get a measurement of how reliable the LPS is?

Thanks!