ROS2与Lighthouse定位系统-硬件
介绍
- 本教程介绍lighthouse定位系统的硬件配置和硬件部件清单
- Crazyflie无人机集群套件，采购地址
1机灯塔定位套件
- 硬件清单，灯塔套件采购地址
1 x Crazyflie 2.1无人机
1 x lighthouse Deck定位甲板
1 x Crazyradio PA 数传
2 x lighthouse v2定位器
2 x lighthouse v2定位器支架
3机灯塔定位套件
- 硬件清单，灯塔套件采购地址
3 x Crazyflie 2.1无人机
3 x lighthouse Deck定位甲板
1 x Crazyradio PA 数传
2 x lighthouse v2定位器
2 x lighthouse v2定位器支架
6机灯塔定位套件
- 硬件清单，灯塔套件采购地址
6 x Crazyflie 2.1无人机
6 x lighthouse Deck定位甲板
3 x Crazyradio PA 数传
4 x lighthouse v2定位器
4 x lighthouse v2定位器支架
10机灯塔定位套件
- 硬件清单，灯塔套件采购地址
10 x Crazyflie 2.1无人机
10 x lighthouse Deck定位甲板
3 x Crazyradio PA 数传
4 x lighthouse v2定位器
4 x lighthouse v2定位器支架
lighthouse v1和v2 参数
| Characteristics | Lighthouse V1 | Lighthouse V2 | Note |
|---|---|---|---|
| Range | ~6m | 6m | Lighthouse V1 range depends on the environment. V2 6m by design. |
| Positioning rate | 30Hz (2 base stations) | ~50Hz | V2 rate is independent of the number of base stations |
| Num. base stations | 1 - 2 | 1 - 4 | V2 can support up to 16 in hardware, configurable in the Crazyflie-firmware build |
| Horizontal angle of view | 120° | 150° | |
| Vertical angle of view | 120° | 110° |
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