Crazyflie 2.0 DWM1000 Loco Positioning Deck for Indoor Positioning System

The Crazyflie 2.0 DWM1000 Loco Positioning Deck is a Tag in a Loco Positioning system and measures the distances to Anchors. The distances are used to estimate the absolute position of the Crazyflie 2.X in the room, which can be used for autonomous flight. The position is calculated on-board the Crazyflie and there is no need for an external computer for position estimation.

Features

• Ultra-wideband communication: Built with the off-the-shelf DWM1000 UWB radio and based on IEEE802.15.4a UWB PHY standard.
• High precision ranging: Measures distances to Loco Positioning Node Anchors with accuracy within a 10 cm range
• Multichannel operation: 500MHz bandwidth with 5 channels from 3 to 7GHz for high-speed and reliable data transfer.
• Dual modes switch: Two-way ranging (TWR) mode and arrival time difference (TDoA) mode
• Radio that can range: potential to be used as a base for a Local Positioning System

Description

The Loco positioning Deck is a Tag in the Loco Positioning system and measures the distance to Anchors. The distances are used to estimate the absolute position of the Crazyflie 2.X in the room, which can be used for autonomous flight. it can act either as an Anchor or Tag. Most commonly it is used as an Anchor, being part of the reference base for the system. Alternatively is can also run in Tag mode when it can be attached to an object to track, for instance a robot.

The Loco Positioning system

The default mode (Two way ranging) of the Loco Positioning system supports the positioning of only one Crazyflie so to position multiple Crazyflies the system must be switched to the TDoA mode. The TDoA mode works like an indoor GPS system where the Crazyflies only listen to positioning information from the anchors which makes it possible to position a large number of drones. Due to the nature of TDoA the position estimation works best in the space inside the anchors (the convex hull) and we recommend using 8 anchors for TDoA.

• Compatibility: See compatibility matrix
• What to buy:
  • 8 x Loco positioning nodes
  • 1 x Crazyradio PACrazyflie 2.1
  • 1× Crazyflie 2.1
  • 1×Loco Positioning deck

Application

• Indoor positioning and navigation
• teaching study
• High-density cluster application
• machine learning
• trajectory planning

Specifications

Specifications are based on the standard 2-way ranging mode.

Ranging accuracy ±10 cm according to DWM1000 spec. See the wiki for measurements.

Part List