There are some difficulties about positioning:
-There are to much situations of copter location relatively walls and yaw angle. It seems, that classification of such positions requires knowledge of this position before.
-There are some areas in arena, where it's impossible to locate copter precisely. On of this areas is circle with center in the center of arena with radius 0.5 meters. In this area there are 4 ranges of 18 degrees of full circle of copter yaw angle each, in which copter measures only distances to 2 opposite walls.
-Distance data are very noisy, and it's possible to determine only area of probable copter location, but this area will jump a lot in small amount of time, because some sensors shows really fast changes of measurements.
Possible solution of this problem is using previous information. Some ideas of this solution are described here and here. I've found this documents only today and haven't read them fully yet. But it seems for me like a full project, which is performed by one team by the way.
There are some difficulties about positioning: -There are to much situations of copter location relatively walls and yaw angle. It seems, that classification of such positions requires knowledge of this position before. -There are some areas in arena, where it's impossible to locate copter precisely. On of this areas is circle with center in the center of arena with radius 0.5 meters. In this area there are 4 ranges of 18 degrees of full circle of copter yaw angle each, in which copter measures only distances to 2 opposite walls. -Distance data are very noisy, and it's possible to determine only area of probable copter location, but this area will jump a lot in small amount of time, because some sensors shows really fast changes of measurements.
Possible solution of this problem is using previous information. Some ideas of this solution are described here and here. I've found this documents only today and haven't read them fully yet. But it seems for me like a full project, which is performed by one team by the way.