Lighthouse Crossing Beam Locally
Posted: Thu Feb 24, 2022 8:54 pm
Hello! I've been working on replicating your lighthouse positioning crossing beam algorithm locally with lh2.
Here are the steps I've taken so far:
- Log the lighthouse.angle0x_0lh2 etc variables and the lighthouse.x,y,z variables
- Calculate the intersection vectors directly using the lighthouse.angle0x_0lh2 angles
- Rotate by the rotation matrices from lighthouse memory and translate by the origin positions from lighthouse memory
- Find the intersection point following my python version of https://github.com/bitcraze/crazyflie-f ... c#L63-L102
Here's my result: Where the orange line is made from lighthouse.x,y,z and the blue is my calculated positions.
My questions:
- The positions don't match up, so I was wondering if there is an intermediate processing step that I missed?
- What is the error for your crossing beams method and for the sweep angle method?
- Is yaw pitch roll from the lighthouse or somewhere else like the imu?
- Could you point me towards documentation about the sweep angle method? I would like to try to recreate it as well.
Thanks for all your help!
Here are the steps I've taken so far:
- Log the lighthouse.angle0x_0lh2 etc variables and the lighthouse.x,y,z variables
- Calculate the intersection vectors directly using the lighthouse.angle0x_0lh2 angles
- Rotate by the rotation matrices from lighthouse memory and translate by the origin positions from lighthouse memory
- Find the intersection point following my python version of https://github.com/bitcraze/crazyflie-f ... c#L63-L102
Here's my result: Where the orange line is made from lighthouse.x,y,z and the blue is my calculated positions.
My questions:
- The positions don't match up, so I was wondering if there is an intermediate processing step that I missed?
- What is the error for your crossing beams method and for the sweep angle method?
- Is yaw pitch roll from the lighthouse or somewhere else like the imu?
- Could you point me towards documentation about the sweep angle method? I would like to try to recreate it as well.
Thanks for all your help!