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<blockquote data-quote="Dodge DeBoulet" data-source="post: 79194" data-attributes="member: 14925"><p>Without IMU-based estimation, so much would depend on the accuracy of the compass and very favorable weather conditions. If, for example, there's a 1-2 degree variance on the compass heading and a winds aloft on the return leg that increase (or decrease) the ground speed (at the same wind speed) by 10-20%, the drone could end up landing from as little as 100 to potentially more than 200 meters away based on a RTH invocation at a 1km distance.</p><p></p><p>The compass heading could be spot-on, but a lateral drift due to crosswinds would also introduce significant uncertainty.</p><p></p><p>Factoring in IMU estimation, though, the best margin of error from the paper included in mha1's post is +/- 5% at 1 meter displacement. That's 50 meters at a 1km displacement, but the margin of error increases significantly at greater distances; +/- 20% at the relatively small displacement of 7 meters. So it would seem that IMU data does not significantly aid in improving accuracy at the sorts of distances at which we'd be flying our drones.</p></blockquote><p></p>
[QUOTE="Dodge DeBoulet, post: 79194, member: 14925"] Without IMU-based estimation, so much would depend on the accuracy of the compass and very favorable weather conditions. If, for example, there's a 1-2 degree variance on the compass heading and a winds aloft on the return leg that increase (or decrease) the ground speed (at the same wind speed) by 10-20%, the drone could end up landing from as little as 100 to potentially more than 200 meters away based on a RTH invocation at a 1km distance. The compass heading could be spot-on, but a lateral drift due to crosswinds would also introduce significant uncertainty. Factoring in IMU estimation, though, the best margin of error from the paper included in mha1's post is +/- 5% at 1 meter displacement. That's 50 meters at a 1km displacement, but the margin of error increases significantly at greater distances; +/- 20% at the relatively small displacement of 7 meters. So it would seem that IMU data does not significantly aid in improving accuracy at the sorts of distances at which we'd be flying our drones. [/QUOTE]
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