Fault-Tolerant Optical Flow Sensor/SINS Integrated Navigation Scheme for MAV in a GPS-Denied Environment

<div>The RMSE of <svg height="11.8631pt" id="M329" style="vertical-align:-3.227201pt" version="1.1" viewbox="-0.0498162 -8.6359 14.8444 11.8631" width="14.8444pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M697 650H468L461 623L492 619C539 613 547 605 518 546C481 471 367 264 278 116H276C239 278 197 500 186 567C180 604 185 613 226 619L252 623L260 650H24L17 623C78 617 92 613 108 533L216 -11H247C365 200 515 462 560 529C616 612 624 615 689 623L697 650Z" id="g113-87"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.332,3.132)"><path d="M731 650H485V618C556 614 580 601 585 558C588 530 592 485 592 390V153H589L173 650H22V618C69 614 92 606 112 582C131 558 132 555 132 483V266C132 175 129 128 125 96C120 49 95 36 36 33V0H281V33C212 36 188 50 183 98C180 129 177 175 177 266V510H179L603 -9H638V390C638 483 640 530 644 561C649 602 674 615 731 618V650Z" id="g58-76"></path></g></svg> from 50 Monte Carlo runs when the decentralized EKF with FDI ability is deployed for optical flow sensor/INS integrated navigation.</div>

Journal of Sensors

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Figure 17

Figure 17: Fault-Tolerant Optical Flow Sensor/SINS Integrated Navigation Scheme for MAV in a GPS-Denied Environment 