Research Article
Autonomous Close Formation Flight Control with Fixed Wing and Quadrotor Test Beds
Table 11
Performance of the Phastball FF during turns.
| FF turns (m) | Clearance | Max err. distance | Mean abs. err. distance | Mean err. distance | Std. dev. |
| Flight 5 | Forward | 12.0 | 1.986 | 0.762 | 0.729 | 0.445 | Lateral | 0.0 | 3.438 | 2.394 | 2.394 | 0.524 | Vertical | 0.0 | 9.485 | 3.960 | 3.960 | 1.052 |
| Flight 7 | Forward | 12.0 | 2.951 | 1.863 | 1.863 | 0.445 | Lateral | 1.2 | 4.177 | 3.180 | 3.180 | 0.469 | Vertical | 2.4 | 6.812 | 4.265 | 4.265 | 1.380 |
| Flight 8 | Forward | 12.0 | 6.059 | 3.431 | 3.431 | 1.307 | Lateral | 1.2 | 4.402 | 3.836 | 3.836 | 0.221 | Vertical | 2.4 | 8.423 | 5.994 | 5.994 | 1.015 |
| Flight 10 | Forward | 12.0 | 3.338 | 0.949 | 0.818 | 0.885 | Lateral | 1.2 | 4.512 | 3.561 | 3.561 | 0.479 | Vertical | 2.4 | 11.39 | 8.718 | 8.718 | 1.585 |
| Flight 11 | Forward | 12.0 | 3.401 | 0.972 | 0.955 | 0.904 | Lateral | 2.4 | 6.449 | 4.878 | 4.878 | 0.660 | Vertical | 2.4 | 5.019 | 3.811 | 3.811 | 0.960 |
| Flight 12 | Forward | 12.0 | 2.030 | 0.777 | 0.567 | 0.753 | Lateral | 2.4 | 4.778 | 4.264 | 4.264 | 0.412 | Vertical | 2.4 | 13.09 | 10.773 | 10.773 | 2.187 |
| Flight 13 | Forward | 12.0 | 2.492 | 1.082 | 0.747 | 1.152 | Lateral | 2.4 | 5.584 | 4.719 | 4.719 | 0.557 | Vertical | 2.40 | 7.298 | 5.454 | 5.454 | 1.032 |
| Flight 14 | Forward | 10 | 15.201 | 10.664 | 6.915 | 8.929 | Lateral | 0 | 5.959 | 1.793 | 1.763 | 1.671 | Vertical | 0 | 12.387 | 8.683 | 8.683 | 2.083 |
| Flight 15 | Forward | 10 | 4.338 | 1.987 | 1.712 | 1.117 | Lateral | 0 | 9.140 | 8.532 | −8.532 | 0.257 | Vertical | 0 | 21.934 | 11.643 | 11.643 | 5.365 |
| Flight 16 | Forward | 0.5 | 3.351 | 2.233 | −2.228 | 0.844 | Lateral | 0 | 13.565 | 12.651 | −12.651 | 0.486 | Vertical | 0 | 18.932 | 9.911 | 9.911 | 4.611 |
| Flight 17 | Forward | 0.5 | 5.0781 | 4.261 | 4.261 | 0.365 | Lateral | 0 | 10.043 | 9.312 | −9.312 | 0.555 | Vertical | 0 | 17.359 | 16.145 | 16.145 | 0.996 |
| Flight 18 | Forward | 0.5 | 4.431 | 2.596 | 2.596 | 1.506 | Lateral | 0 | 14.210 | 12.616 | −12.616 | 1.034 | Vertical | 0 | 16.457 | 9.272 | 9.272 | 4.150 |
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