Experimental Drone Positioning System

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Have you seen these drone shows where up to a thousand drones draw pictures in the sky?
The drones used here look like they cost around $2000 each. During one drone show in Australia 50 drones fell from the display into the river. That was only 10 percent of the drones though, putting the total cost of the drones in the display at around $1 million dollars.
These drone displays use a super accurate satellite positioning system called GNSS RTK which stand for Real Time Kinematics. The receivers are available for a few hundred $$.
Then all you need is a radio link to communicate with each drone so you can tell it where to go, and some software to coordinate them.
But what about if I want to fly drones autonomously indoors? There are lots of demos on YouTube of multiple drones flying around performing tasks. These systems tend to use a motion capture system like those manufactured by Vicon which have multiple cameras and IR illuminators, and some software that solves the skeleton for actor based on markers they wear.
A system like this has been used frequently by Stuff Made Here for tracking objects in motion.
These systems tend to cost around $10,000 Dollars upwards though. But what’s a cheaper solution?

CAD & Code: https://github.com/XRobots/Ultrasonics

Links from this video:
https://www.youtube.com/watch?v=ve9F9a3Scak
https://dronedj.com/2022/11/21/perth-drone-show-fail-australia/
https://en.wikipedia.org/wiki/Real-time_kinematic_positioning
https://learn.sparkfun.com/tutorials/what-is-gps-rtk/all
https://www.youtube.com/watch?v=44KvHwRHb3A
https://www.youtube.com/watch?v=MlFtHuXPbv4
https://www.youtube.com/watch?v=hM7xEoyP-4o
https://marvelmind.com/
https://eu.robotshop.com/products/marvelmind-starter-set-hw-v49-indoor-navigation-positioning-system-915mhz
https://www.robot-electronics.co.uk/htm/srf05tech.htm

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Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon.

HARDWARE/SOFTWARE

Below you can also find a lot of the typical tools, equipment and supplies used in my projects:

Filament from: https://www.3dfuel.com/
Lulzbot 3D Printers: http://bit.ly/2Sj6nil
Bearings from: https://simplybearings.co.uk/
Lincoln Electric Welder: https://bit.ly/2Rqhqos
CNC Router: https://bit.ly/2QdsNjt
Ryobi Tools: http://bit.ly/2RhArcD
Axminster Micro Lathe: http://bit.ly/2Sj6eeN
3D Printer Filament: http://bit.ly/2PdcdUu
Soldering Iron: http://bit.ly/2DrNWDR
Vectric CNC Software: http://bit.ly/2zxpZqv