Autonomous Close Formation Flight Control with Fixed Wing and Quadrotor Test Beds

Table 10

Performance of FF during straight legs.

FF straight legs (m)		Clearance	Max err. distance	Mean abs. err. distance	Mean err. distance	Std. dev.
Flight 5	Forward	12.0	1.087	0.394	0.345	0.331
	Lateral	0.0	1.890	1.303	−1.303	0.286
	Vertical	0.0	3.017	2.295	2.295	0.356
Flight 7	Forward	12.0	1.899	0.649	−0.499	0.596
	Lateral	1.2	0.551	0.184	−0.021	0.238
	Vertical	2.4	2.229	1.640	1.640	0.212
Flight 8	Forward	12.0	1.529	0.536	−0.143	0.596
	Lateral	1.2	1.083	0.606	−0.606	0.225
	Vertical	2.4	2.027	1.302	1.302	0.327
Flight 10	Forward	12.0	3.563	1.763	−1.521	1.239
	Lateral	1.2	0.386	0.129	−0.023	0.157
	Vertical	2.4	2.350	1.696	1.696	0.368
Flight 11	Forward	12.0	2.463	1.168	−0.904	1.020
	Lateral	2.4	1.601	0.630	−0.630	0.469
	Vertical	2.4	1.145	0.434	−0.340	0.397
Flight 12	Forward	12.0	2.637	1.510	−1.510	0.787
	Lateral	2.4	1.041	0.619	−0.619	0.280
	Vertical	2.4	1.815	1.293	1.293	0.317
Flight 13	Forward	12.0	2.686	1.542	−1.526	0.749
	Lateral	2.4	0.795	0.214	−0.148	0.286
	Vertical	2.4	1.885	1.545	1.545	0.137
Flight 14	Forward	10.00	11.921	8.614	−8.614	1.675
	Lateral	0.00	1.726	0.675	−0.570	0.415
	Vertical	0.00	2.403	2.255	2.255	0.122
Flight 15	Forward	10.00	6.503	1.369	1.011	1.370
	Lateral	0.00	1.083	0.556	−0.556	0.169
	Vertical	0.00	22.504	11.592	11.592	7.020
Flight 16	Forward	0.50	—	—	—	—
	Lateral	0.00	5.271	4.805	−4.805	0.178
	Vertical	0.00	1.882	1.664	1.664	0.165
Flight 17	Forward	0.50	1.926	0.838	0.303	0.937
	Lateral	0.00	0.495	0.295	−0.295	0.176
	Vertical	0	2.593	1.745	1.745	0.358
Flight 18	Forward	0.5	1.155	0.647	−0.399	0.649
	Lateral	0	0.457	0.395	−0.395	0.055
	Vertical	0	8.023	3.980	3.980	1.926