Flight data underlying the publication: "Three-dimensional Relative Localization and Swarming 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 Swarming with Wireless Ranging". <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.

本数据集用于对论文《无线测距三维相对定位与集群控制》（Three-dimensional Relative Localization and Swarming with Wireless Ranging）中提出的三维相对定位算法开展实验验证。

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。数据集包含三组不同实验的数据，分别为“水平速度模型”“相对定位”以及“领导者-跟随者”实验，实验基于两款无人机平台：Crazyflie无人机（cf）与Flapper无人机（fd）。

数据通过Crazyflie-Suite接口进行记录，接口地址为：https://github.com/tudelft/crazyflie-suite。本次实验所用的机载代码可从以下仓库获取：针对Crazyflie无人机（cf）的仓库地址为https://github.com/tudelft/crazyflie-firmware/tree/cf_swarm3d；针对Flapper无人机（fd）的仓库地址为https://github.com/tudelft/crazyflie-firmware/tree/flapper_swarm3d

本数据集同时提供了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。

若需运行数据分析脚本，请将数据解压至与脚本处于同一目录下、名为“data”的文件夹中。