Bitcraze Forums

There have been a few posts and a blog about the DWM:

https://www.bitcraze.io/2016/01/4966/

viewtopic.php?f=6&t=1749&p=8951&hilit=decawave#p8951

viewtopic.php?f=6&t=1712&p=8789&hilit=decawave#p8789

I see this as an important development for the Crazyflie. I do not yet know enough about it.

How many anchors will it require for one small area?

If I want it to autopilot around my home or office, will I need one of more anchors at each junction?

There are a couple answers to one of your questions in the comments on the first blog post you linked to. I think they were probably put there after you posted this though...

buildsrobots wrote:How many anchors will it require for one small area?

arnaud wrote:- 4 anchors is the minimum to get a 3D estimate. In theory 3 should be enough but I have not tried
- The theoretical range is up to 100 meters. I would assume about 30m indoor (again not tested).

Hi buildsrobots,

This location system is still in heavy development but my current rule of thumb is to keep direct line of sight with at least 4 anchors at any time. I would like to test rigging many room to see how it would go (for example for passing the doorsteps). Using 6 or more like in our lab allows for increase precision and for being resilient to people moving around blocking some of the anchor line of sigh.

This requirement will certainly be relaxed with a good sensor fusion: we will be able to loose line of sight with more anchors for a short time (ie. passing doors), and even maybe make use of non-line of sight measurement.

I have not had time to document my system yet but it will be on the wiki: https://wiki.bitcraze.io/misc:hacks:dwm1000