Flight data underlying the publication: "Three-dimensional Relative Localization and Synchronized Movement with Wireless Ranging"

Flight data used for the experimental validation of the 3D relative localization algorithm presented in the paper "Three-dimensional relative localization and synchronized movement with wireless ranging (2022)".<br> <br> Data was recorded in the Cyberzoo test arena at the Faculty of Aerospace Engineering at TU Delft. Contains data for three different experiments, "horizontal velocity model", "relative localization" and "leader-follower", on two different drone platforms: Crazyflies (cf) and Flapper Drones (fd).<br> <br> Data was logged using the Crazyflie-Suite interface: https://github.com/tudelft/crazyflie-suite <br> The on-board code for performing the experiments can be found here:<br> (cf) https://github.com/tudelft/crazyflie-firmware/tree/cf_swarm3d (fd) https://github.com/tudelft/crazyflie-firmware/tree/flapper_swarm3d<br> <br> Data for identification of the horizontal velocity model on the Flapper Drones is also provided, alongside python scripts for data analysis. <br> To run the analysis scripts, extract the data into a folder called 'data', located in the same directory as the scripts.本数据集用于验证发表于论文《基于无线测距的三维相对定位与同步运动（2022）》（Three-dimensional relative localization and synchronized movement with wireless ranging）中提出的三维相对定位算法的实验有效性。<br><br>数据采集于代尔夫特理工大学（TU Delft）航空工程学院的Cyberzoo测试场地。数据集涵盖三类实验的数据：“水平速度模型”“相对定位”与“领导者-跟随者”，覆盖两种无人机平台：Crazyflies（简称cf）与Flapper无人机（简称fd）。<br><br>数据通过Crazyflie-Suite接口记录，接口地址为：https://github.com/tudelft/crazyflie-suite。本实验所用的机载代码可从以下地址获取：<br>针对cf平台：https://github.com/tudelft/crazyflie-firmware/tree/cf_swarm3d；针对fd平台：https://github.com/tudelft/crazyflie-firmware/tree/flapper_swarm3d<br><br>数据集同时提供了Flapper无人机的水平速度模型辨识数据，以及用于数据分析的Python脚本。<br><br>若需运行分析脚本，请将数据解压至与脚本位于同一目录下的名为“data”的文件夹中。