Hi,
I am currently experimenting with the LPS for getting best performance out of it.
The Dillution of Precision is my reference point. However I have some questions:
What part of the system can I interpret as the transmitter, and what is the Receiver, i.e. to calculate the actual value of DOP (see Formular with x,y,z = position of receiver, and xi,yi,zi = position of sattelite [GPS])?
Do you have already results of your experiments, where to best place the nodes?
My humble experiences (I did not test it very extensive) a rough error of about 30 to 50 centimeters in all 3 Dimensions, I placed the Nodes on the floor with about 20 centimeters distance from the ground.
This is my experimental setup:
I plan to attach the Nodes to the ceiling.
Thanks for any hints!
Regards, Che.
LPS: Positioning of the LPS-Nodes for best performance
Re: LPS: Positioning of the LPS-Nodes for best performance
Hi Che,
In the current setup, both Crazyflie and anchors are transmitting and receiving, so I don't think you can apply the formula directly.
As for the placement:
* Try asymmetric setups, otherwise your localization algorithm (particle filter or LMS) might get stuck in a wrong local minima.
* You will get better vertical precision if some of the anchors are higher. You can use tripods/microphone stands/speaker stands for that purpose. Arnaud had good results by using 3 near the ceiling and 3 near the ground.
I think the error in all 3 dimensions will be about +/- 20cm with a good setup. For better results, you would need to fuse some other data (e.g. IMU or barometer).
Best,
Wolfgang
In the current setup, both Crazyflie and anchors are transmitting and receiving, so I don't think you can apply the formula directly.
As for the placement:
* Try asymmetric setups, otherwise your localization algorithm (particle filter or LMS) might get stuck in a wrong local minima.
* You will get better vertical precision if some of the anchors are higher. You can use tripods/microphone stands/speaker stands for that purpose. Arnaud had good results by using 3 near the ceiling and 3 near the ground.
I think the error in all 3 dimensions will be about +/- 20cm with a good setup. For better results, you would need to fuse some other data (e.g. IMU or barometer).
Best,
Wolfgang
Re: LPS: Positioning of the LPS-Nodes for best performance
Hi Wolfgang,
thanks for your quick answer. I will heed your tips in my new setup and let you know how it works.
Best,
Timo
thanks for your quick answer. I will heed your tips in my new setup and let you know how it works.
Best,
Timo