We present a range-based solution for indoor relative localization by micro air vehicles (MAVs), achieving sufficient accuracy for leader–follower flight. Moving forward from previous work, we removed the dependency on a common heading measurement by the MAVs, making the relative localization accuracy independent of magnetometer readings. We found that this restricts the relative maneuvers that guarantee observability, and also that higher accuracy range measurements are required to rectify the missing heading information, yet both disadvantages can be tackled. Our implementation uses ultra wideband, for both range measurements between MAVs and sharing their velocities, accelerations, yaw rates, and height with each other. We showcased our implementation on a total of three Parrot Bebop 2.0 MAVs and performed leader–follower flight in a real-world indoor environment. The follower MAVs were autonomous and used only on-board sensors to track the same trajectory as the leader. They could follow the leader MAV in close proximity for the entire durations of the flights.

中文翻译：

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室内领导者-跟随者飞行中基于微型飞机的基于范围的相对定位

我们为微型飞机（MAV）提供了一种基于距离的解决方案，用于室内相对定位，从而为领导者和跟随者的飞行提供了足够的精度。在之前的工作中，我们消除了MAV对通用航向测量的依赖，从而使相对定位精度独立于磁力计读数。我们发现这限制了保证可观察性的相对机动性，并且还需要更高的精度范围测量值来纠正丢失的航向信息，但是可以克服这两个缺点。我们的实现使用超宽带进行MAV之间的距离测量，并相互共享其速度，加速度，偏航率和高度。我们总共展示了三个鹦鹉Bebop 2。0架轻型飞机，并在真实的室内环境中进行了领空跟随飞行。跟随者MAV是自主的，仅使用机载传感器跟踪与领导者相同的轨迹。他们可以在整个飞行过程中紧紧跟随领导者MAV。