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Relative pose estimation is the foundational requirement for multi-robotsystem, while it is a challenging research topic in infrastructure-free scenes.In this study, we analyze the relative 6-DOF pose estimation error ofmulti-robot system in GNSS-denied and anchor-free environment. An analyticallower bound of position and orientation estimation error is given under theassumption that distance between the nodes are far more than the size ofrobotic platform. Through simulation, impact of distance between nodes,altitudes and circumradius of tag simplex on pose estimation accuracy isdiscussed, which verifies the analysis results. Our analysis is expected todetermine parameters (e.g. deployment of tags) of UWB based multi-robotsystems.

Analysis on Multi-robot Relative 6-DOF Pose Estimation Error Based on UWB Range