To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate with each other using their wireless transceiver. The MAVs exchange on-board states (velocity, height, orientation) while the signal strength indicates range. Fusing these quantities provides a relative location estimate. We used this for collision avoidance in tight areas, testing with up to three AR.Drones in a \(4\,\mathrm{m}~\mathbf {\times }~4\,\mathrm{m}\) area and with two miniature drones (\(\approx 50\,\mathrm{g}\)) in a \(2~\mathrm{m}~\mathbf {\times }~2~\mathrm{m}\) area. The MAVs could localize each other and fly several minutes without collisions. In our implementation, MAVs communicated using Bluetooth antennas. The results were robust to the high noise and disturbances in signal strength. They could improve further by using transceivers with more accurate signal strength readings.

中文翻译：

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基于机载通信的相对本地化，可在微型飞行器团队中避免碰撞。

为了避免碰撞，成队飞行的微型飞行器（MAV）要求估计其相对位置，最好是在最小的质量和处理负担下。我们提出了一种相对定位方法，其中MAV仅需要使用其无线收发器进行相互通信。MAV交换机载状态（速度，高度，方向），而信号强度指示范围。融合这些数量可提供相对位置估计。我们将其用于在狭窄区域中避免碰撞，并在\（4 \，\ mathrm {m}〜\ mathbf {\ times}〜4 \，\ mathrm {m} \）区域中使用多达三个AR.Drone进行测试，具有两个微型无人驾驶飞机（\（\约50 \，\ mathrm {G} \） ）在一个\（2〜\ mathrm {M}〜\ mathbf {\倍}〜2〜\ mathrm {M} \）区。MAV可以相互定位并飞行几分钟而不会发生碰撞。在我们的实现中，MAV使用蓝牙天线进行通信。结果对于高噪声和信号强度的干扰是可靠的。通过使用具有更准确信号强度读数的收发器，它们可以进一步改善。