Relative Position Estimation in Multi-Agent Systems Using Attitude-Coupled Range Measurements

The ability to accurately estimate the position of robotic agents relative one another, in possibly GPS-denied environments, is crucial execute collaborative tasks. Inter-agent range measurements are available at a low cost, due technologies such as ultra-wideband radio. However, task three-dimensional estimation using multi-agent systems suffers from unobservabilities. This letter presents sufficient condition for observability positions, and satisfies simple framework with only measurements, an accelerometer, rate gyro, magnetometer. has been tested simulation experiments, where 40-50 cm positioning accuracy achieved inexpensive off-the-shelf hardware.