For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for determining the three-dimensional relative position between two mobile robots, each using nothing more than a single ultra-wideband transceiver, an accelerometer, a rate gyro, and a magnetometer. A sliding window filter estimates the relative position at selected keypoints by combining the distance measurements with acceleration estimates, which each agent computes using an on-board attitude estimator. The algorithm is appropriate for real-time implementation, and has been tested in simulation and experiment, where it comfortably outperforms standard estimators. A positioning accuracy of less than 1 meter is achieved with inexpensive sensors.

翻译：对于一组机器人合作工作来说,每个机器人都有能力决定其邻居相对于自己的位置,以便自主地执行任务。本信提供了一种算法,用以确定两个移动机器人之间的三维相对位置,每个移动机器人只使用一个超宽带收发器、一个加速计、一个速率陀螺仪和一个磁强计。滑动窗口过滤器通过将距离测量与加速度估计值相结合来估计选定关键点的相对位置,每个代理器使用一个在机上姿态估计器进行计算。该算法适合于实时执行,并在模拟和实验中进行了测试,在模拟和实验中,它比标准测速器好得多。使用廉价传感器的定位精度小于1米。