About TDoA

[abrahamvee]

Does TDoA requires 8 anchors? Is it possible to work with only 6?

[arnaud]

It is possible, the reason TDoA is usually used with 8 anchors is that it works best within the convex hull formed by the anchors, and it is much easier to build a bit convex hull with 8 anchors. With 6, making a triangle up and down is a possible way to obtain a good flight space withing the convex hull.

The positioning will not stop at the convex hull border, though it will quickly become more noisy are you fly away from it (much more quickly than with TWR).