About TDoA

All discussions related to the Loco Positioning system
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abrahamvee
Beginner
Posts: 19
Joined: Tue Oct 08, 2019 4:27 pm

About TDoA

Post by abrahamvee » Wed Dec 04, 2019 3:31 pm

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



arnaud
Bitcraze
Posts: 2212
Joined: Tue Feb 06, 2007 12:36 pm

Re: About TDoA

Post by arnaud » Wed Dec 04, 2019 5:11 pm

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).

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