Experimental Validation of a Constrained Relative Attitude Determination Approach for Two Vehicle Formations

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.