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      Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment

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          Abstract

          The drift of inertial navigation system (INS) will lead to large navigation error when a low-cost INS is used in microaerial vehicles (MAV). To overcome the above problem, an INS/optical flow/magnetometer integrated navigation scheme is proposed for GPS-denied environment in this paper. The scheme, which is based on extended Kalman filter, combines INS and optical flow information to estimate the velocity and position of MAV. The gyro, accelerator, and magnetometer information are fused together to estimate the MAV attitude when the MAV is at static state or uniformly moving state; and the gyro only is used to estimate the MAV attitude when the MAV is accelerating or decelerating. The MAV flight data is used to verify the proposed integrated navigation scheme, and the verification results show that the proposed scheme can effectively reduce the errors of navigation parameters and improve navigation precision.

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          Most cited references13

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          Novel hybrid of strong tracking Kalman filter and wavelet neural network for GPS/INS during GPS outages

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            Fuzzy-Appearance Manifold and Fuzzy-Nearest Distance Calculation for Model-Less 3D Pose Estimation of Degraded Face Images

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              A new method of seamless land navigation for GPS/INS integrated system

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                Author and article information

                Journal
                Journal of Sensors
                Journal of Sensors
                Hindawi Limited
                1687-725X
                1687-7268
                2016
                2016
                : 2016
                :
                : 1-10
                Article
                10.1155/2016/6105803
                a4c7f68e-4e6f-4dcf-b577-19adbbf04df8
                © 2016

                http://creativecommons.org/licenses/by/4.0/

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