Bitcraze Forums

Hi. I am a student who are making swarm drones (which are 4 drones) for Capstone project.
These days, I am trying to control drone's position using UWB.
For the first time, I used TWR with 4 anchors for a drone and it worked well.
And now I am gonna use TdoA2 to control mutiple drones and I have a question about the number of anchors that I should use for swarmming.

Should I use at least 8 anchors to make swarm drones?
Because I have 5 anchors now, I wonder whether I should buy 3 anchors more or not.
I will wait for your reply.
I always thank your references and great information. Thank you


Sincerely,

Hi,

You can try with 5 anchors and see what result you get. The thing with TDoA is that the noise increase quickly when the drone leaves the convex hull formed by the anchors, with 5 anchors it is going to be a bit hard to have a big workable convex hull (maybe 3 on the floor and 2 on the ceiling in the middle).

You should also try TDoA3 instead of TDoA2.

So my input would be to try and add anchors only if you see problems outside of the convex hull.

Thank you for answering. We are using TDoA2 now and it's working well! We've tried to control two drones using TDoA2 method. Thank you again!