Mapping loco positioning system error using Vicon motion capture system
As part for my thesis I used Crazyflie drone. The Crazyflie gets its position from LPS system, based on UWB technology. In this project I mapped the errors of the LPS system, using the Vicon motion capture as ground truth.
first, I cablibrated the LPS and Vicon coordinates system
then I placed reflective markers on the drone:
I got the drone position from the Vicon system and from LPS system and calculated the error:
I sampled the space for several LPS antenna configuration
finally I intepolated the samples to get the error map of the workspace:
now, I can account for possioning error as function of drone position (x,y,z)