Bitcraze Forums

Hello,

I would like to know if raw ranging data is available for the multiple measurements that were made with the reference system (here).
Raw measurements are only available for the hovering case with Crazyflie: (x,y,z) = (5.00, 1.50, 0.76).

It would be nice to have it for some offline tests location-related.
Best,
Roudy

Hi Roudy,

There test have been made in a static way: the Crazyflie was not flying but just standing there. The aim was to verify the long-term static absolute accuracy.

Unfortunately we do not have access to a motion capture system or similar high-precision capture system we could use as ground truth when flying, though we might be able to have access to one soon and we will communicate when we have taken measurement with such systems.

Hi Arnaud,

I understand that the position estimation results for the 4 static positions reflect stability of the position estimation filter. But what I am interested in are the raw range measurements corresponding to each position. Even the ground truth is not very accurate, such data may be useful for testing some localisation algorithms I am working on.

We are planning to do some raw measurements too with ground truth (vision-based) anchor positions, but It might take some time before we get something ready...

Hi Roudy,
Sorry I miss-understood the questions.

I found the X/Y/Z data for the multiple measurements (I am editing the wiki to add the data there too): https://docs.google.com/spreadsheets/d/ ... Kf-GYCoKck

All we have for these test is the output of the EKF though, not the raw LPS distance measurements.