Lighthouse Positioning - position estimation with only one Basestation [SOLVED]
Posted: Wed Jan 20, 2021 10:26 am
Hi all,
I consider using the Crazyflie together with the Lighthouse Positioning System for an experimental setup. But before buying it I just want to check if I understand the theory behind it correctly (just the general concept not in depth).
On the setting up page [https://www.bitcraze.io/documentation/r ... etting_up/] it is said that the drone can estimate its position using only one basestation and the extended kalman filter. This is important to me as in the experimental setup the drones might loose line of sight to one of the basestations.
So here is my question.
One basestation swipes two orthogonal planes across the space. When the planes hit the drone it will know that it is on the intersection line of the planes but it does not know on which point of the intersection line it is. So when the drone stands still or moves along this intersection line will I see a drift of the estimated position in the direction of the intersection line?
Second, if the drone moves otherwise will the drift disappear because intersection lines at different points are not in parallel?
Best regards,
devjalx
I consider using the Crazyflie together with the Lighthouse Positioning System for an experimental setup. But before buying it I just want to check if I understand the theory behind it correctly (just the general concept not in depth).
On the setting up page [https://www.bitcraze.io/documentation/r ... etting_up/] it is said that the drone can estimate its position using only one basestation and the extended kalman filter. This is important to me as in the experimental setup the drones might loose line of sight to one of the basestations.
So here is my question.
One basestation swipes two orthogonal planes across the space. When the planes hit the drone it will know that it is on the intersection line of the planes but it does not know on which point of the intersection line it is. So when the drone stands still or moves along this intersection line will I see a drift of the estimated position in the direction of the intersection line?
Second, if the drone moves otherwise will the drift disappear because intersection lines at different points are not in parallel?
Best regards,
devjalx