High-precision (± 2cm) tracking of the Copter (XYZ) without GLONASS /GPS inside and outside

Good day, colleagues,
 
 
We here flew recently with a high-precision (± 2cm) tracking of the Copter and wanted to share:
 
 

 
 
Configuration:
 
- DJI Phantom II
 
- It has a mobile lighthouse Marvelmind Indoor "GPS"
 
- A system of 6 stationary Marvelmind Indoor "GPS" beacons is deployed: 4 on the ground and 2 - at a height of 2.5 m - are attached to the kiosk
 
 
Simultaneous species:
 
- View from the camera of the Copter
 
- View from outside on the copter
 
- Live view of the track in XY (right-bottom)
 
- Type XY in post-processing (delay 5 counts) - left bottom
 
- Type ZX in post-processing (delay 5 counts) - left in the center
 
- Type ZY in post-processing (delay 5 counts) - upper left
 
 
Similarly, inside the room:
 
 

 
 
Who cares about the details, we will be happy to answer your questions in the comments.
 
 
Sincerely,
 
Maxim
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