Adding Anchor distance in TDoA Calculation
Posted: Sat Jun 06, 2020 6:13 pm
Hello,
I was looking through the TDoA calculation and referencing the paper you cite in the code and am wondering why the time of flight between the reference anchor and the anchor that was previously received from is added into the Equation 16 from the paper?
The relevant code is line 127 in tdoaEngine.c:
https://github.com/bitcraze/crazyflie-f ... ine.c#L127
The paper is found here:
http://mikehamer.info/assets/papers/Led ... 202015.pdf
Thanks!
Thomas
I was looking through the TDoA calculation and referencing the paper you cite in the code and am wondering why the time of flight between the reference anchor and the anchor that was previously received from is added into the Equation 16 from the paper?
The relevant code is line 127 in tdoaEngine.c:
https://github.com/bitcraze/crazyflie-f ... ine.c#L127
The paper is found here:
http://mikehamer.info/assets/papers/Led ... 202015.pdf
Thanks!
Thomas