[SOLVED]TDOA2 positioning error in high altitude
Posted: Fri Jan 22, 2021 7:30 am
Hi
i have problem with drone being unstable in high altitude(1.5m and 2m).
In video i send certain coordinate point using send_position_setpoint command to make it hover. (https://youtu.be/3zIm3GidDUo)
I installed LPS using 8 anchors with 8m x 8m space, and anchor height being 0.7m and 2m.
I guessed drone being unstable is because of TDOA2 localization error, so i checked localization std with different altitude.
I tested std of TDOA2 localization in certain point which is the center of LPS, and used tripod to make drone still.
This is the result. Std gets higher with altitude. So i think my guess is right. Now i want to solve the localization error of TDOA2 in high altitude.
I think the problem is UWB antenna of drone facing upward, so if drones gets higher 4 anchors get too low.
Would it work for installing more anchors for example like this? ofcourse using TDOA3. or any good ideas?
Thanks
john
i have problem with drone being unstable in high altitude(1.5m and 2m).
In video i send certain coordinate point using send_position_setpoint command to make it hover. (https://youtu.be/3zIm3GidDUo)
I installed LPS using 8 anchors with 8m x 8m space, and anchor height being 0.7m and 2m.
I guessed drone being unstable is because of TDOA2 localization error, so i checked localization std with different altitude.
I tested std of TDOA2 localization in certain point which is the center of LPS, and used tripod to make drone still.
This is the result. Std gets higher with altitude. So i think my guess is right. Now i want to solve the localization error of TDOA2 in high altitude.
I think the problem is UWB antenna of drone facing upward, so if drones gets higher 4 anchors get too low.
Would it work for installing more anchors for example like this? ofcourse using TDOA3. or any good ideas?
Thanks
john