Anchor position estimation in the client

As I wrote about in a previous blog post, I have been working on an anchor position estimation algorithm in the Crazyflie Client. The algoritm uses ranging data from the Loco Positioning system to estimate where the anchors are located, and thus remove the need to measure their positions in the room. I have finally reached a point where I think it is good enough to let it out from the lab and it has been pushed to the client repository.

A button has been added to the Loco Positioning tab that opens a wizard. In the wizard the user is asked to place the Crazyflie in certain positions to record ranges and define the coordinate system. If all goes well, the estimated anchor positions are transfered to the anchor position fields in the Loco Positioning tab. If the user is happy with the result the next step is to write the positions to the anchors and start flying!

Now to the disclaimer: the results may not always be perfect – surprise! We have not tested the algorithm a lot but it seems to give decent results, at least it can be useful as a base for manual corrections and sanity checks. Some of the estimated positions are pretty good, while others might be a meter or so off. The conclusion is that you should not trust it blindly, check that the estimated positions seem reasonable before flying.

Currently the system only supports Two way ranging, but extending it to TDoA should not be too complicated. There are probably many possible improvements that can be done, and we hope that everyone that finds this interesting and have ideas of how to do it will give it a go. After all, it is open source and we would love to see contributions refining the functionality, now that there is a base to build from.

Any feed back is welcome, let us know if it works or not in your setup!

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