Experimental validation of a constrained relative attitude determination approach for two vehicle formations

John McGreevy, Joanna Hinks, Richard Linares, John L. Crassidis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an experimental validation of a method of determining the relative attitude matrix between two quadrotors using line-of-sight vectors between each other as well as a common reference location. The result of the line-of-sight vector method is compared to the relative attitude matrix obtained from a motion capture system which is taken as the ground truth. The difference between the two measurements is calculated and then analyzed to characterize the error that occurs in the sensor model.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2012
StatePublished - Dec 1 2012
EventAIAA Guidance, Navigation, and Control Conference 2012 - Minneapolis, MN, United States
Duration: Aug 13 2012Aug 16 2012

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2012

Other

OtherAIAA Guidance, Navigation, and Control Conference 2012
CountryUnited States
CityMinneapolis, MN
Period8/13/128/16/12

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