Hello, I’m installing antennas under the drone and rotating them 180 degrees. Previously, the front antenna 0 was facing forward and on the drone, but now it’s facing backward and down. I’m reading the coordinates from the DOA_value page. To get my bearings, do I need to add 180 to the values I received and take the remainder when dividing by 360?
doa = (value + 180.0) % 360.0
Setting in the software may be easier:
DoA Configuration
These settings need to be set for your particular antenna array setup and preferences.
Array Configuration
Choose what antenna array type you are using, either a linear “ULA” or circular “UCA” antenna configuration.
Antenna Radius/Interelement Spacing
Set the radius of the circular array, or the interelement spacing of a linear array here (in meters).
Wavelength Multiplier
(Non-Editable) Shows the spacing multiplier based on the frequency and array sizing. This should always be kept under 0.5, and ideally above 0.2. The closer to 0.5, the better the angular resolution.
Enable DoA Estimation
Enable computation of the direction-finding algorithms.
DoA Algorithm
Array Offset
If the antenna array is oriented in a way that is not in-line with the vehicles axis of movement, then you can set the offset here. This is most useful for linear arrays that might be oriented along the front-back axis of a vehicle, as zero degrees for a linear array is orthogonal to the array. So in that case it would need to be rotated 90 degrees to be aligned with the vehicles axis of movement.
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If you will be looking at the DOA plots in the web interface, this may be useful:
Display options
These options affect the DOA graph display.
DoA Graph Type
Changes between a linear, polar, or compass style plot for displaying DoA bearings. The linear and polar plots operate in the unit circle convention where 90 degrees is anticlockwise from 0 degrees. The compass plot operates in the compass/map convention where 90 degrees is clockwise. This may be changed in a future version, where only the compass/map convention is used, to avoid confusion.
Compass Offset
If you use the compass plot, you can set a compass offset, to compensate for where your array is pointing.
I use all of this, but I take the values from DOA_value for my application, and I need to display coordinates with corrections based on the physical location of the antennas, whether antenna 0 is in front or behind, top or bottom
You don’t add to the DoA output values, as those values are the MUSIC pseudospectrum power values.
Instead, just rotate the array. Each array entry corresponds to 1 degree.