version 1 - 2022-01-10

Flight data used for the experimental validation of the 3D relative localization algorithm presented in the paper "Three-dimensional Relative Localization and Swarming with Wireless Ranging".

Data was recorded in the Cyberzoo test arena at the Faculty of Aerospace Engineering at TU Delft. Contains data for three different experiments, "horizontal velocity model", "relative localization" and "leader-follower", on two different drone platforms: Crazyflies (cf) and Flapper Drones (fd).

Data was logged using the Crazyflie-Suite interface: https://github.com/tudelft/crazyflie-suite

The on-board code for performing the experiments can be found here:

(cf) https://github.com/tudelft/crazyflie-firmware/tree/cf_swarm3d

(fd) https://github.com/tudelft/crazyflie-firmware/tree/flapper_swarm3d

Data for identification of the horizontal velocity model on the Flapper Drones is also provided, alongside python scripts for data analysis.

To run the analysis scripts, extract the data into a folder called 'data', located in the same directory as the scripts.