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.

本数据集用于对发表于论文《基于无线测距的三维相对定位与协同运动（2022）》中的三维相对定位算法开展实验验证。<br><br>数据录制于代尔夫特理工大学（TU Delft）航空工程学院的Cyberzoo测试场。本数据集包含三类不同实验的相关数据，分别为「水平速度模型」「相对定位」以及「主从跟随」，实验在两种不同无人机平台上完成：Crazyflies（cf）与Flapper Drones（fd）。<br><br>数据通过Crazyflie-Suite接口进行记录，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>本数据集同时提供了Flapper Drones（fd）平台上的水平速度模型辨识所需数据，以及配套的数据分析Python脚本。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、名为「data」的文件夹中。