Abstract
This paper proposes a relative attitude and distance estimation algorithm based on pairwise range measurements between vehicles as well as inertial measurement of each platform. The solution of Wahba’s Problem is introduced to compute the relative attitude between multi-platforms with the sampled pairwise ranges, in which the relative distance estimation is derived and the estimation error distributions are analyzed. An extended Kalman filter is designed to fuse the estimated attitude and distance with the inertial measurement of each platform. The relative poses between platforms are determined without any external aided measurement. To show this novelty, a real testbed is constructed by our research lab. And the experiment results are positive.
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