Error propagation and solvability in UAV localisation based on trilateration with a multi robot formation
Zhidong Wang, Luis Ruiz · International Journal of Mechatronics and Automation · 2016
This works presents how the propagation of errors from stations affects the trilateration, as seen from the error in the receiver covariance. Also, a method to calculate a solvability map in real-time is developed. This map is useful to select formations when using trilateration and to choose how a multi robot formation has to move in a given environment. The mathematical tools used are explained and proven in a real-time test and a simulation. The multi robot formation consists of omnidirectional wheeled mobile robots and an unmanned aerial vehicle in three dimensions.