| 摘要 |
Mobile platforms exchange their positions in a three-dimensional common reference frame based on data from their respective inertial sensors. The mobile platforms establish the common reference frame, e.g., by contacting each other. The position of each mobile platform is updated in its local reference frame and the position is transformed into a position in the common reference frame. The position in the common reference frame may then be transmitted to the other mobile platform, which can then determine the spatial relationship between the mobile platforms based on the received common reference frame position. Either mobile platform may pass the common reference frame to additional mobile platforms by establishing a new reference frame with a new mobile platform, generating a transformation from the new reference frame to the common reference frame and providing the transformation to the new mobile platform. |
