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

<div>Three coordinate systems used for modelling the blended wing body MAV [<a href="/journals/js/2018/9678505/#B17">17</a>]. <span class="nowrap"><svg height="9.33485pt" id="M63" style="vertical-align:-3.295671pt" version="1.1" viewbox="-0.0498162 -6.03918 15.5973 9.33485" width="15.5973pt" 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="M220 349V455C158 436 98 425 38 417V389C85 378 92 374 92 323V104C92 43 83 38 28 32V0H302V32C225 38 220 43 220 104V291C237 330 257 343 276 343C292 343 305 336 322 322C329 316 339 313 353 318C379 328 402 356 402 392C402 426 374 454 335 454C297 454 259 411 222 349H220Z" id="g13-112"></path></g><g transform="matrix(.0091,0,0,-0.0091,5.252,3.132)"><path d="M532 0V30C473 38 467 38 467 107V298C467 395 416 451 336 451C307 451 279 439 251 420C226 404 205 389 185 374V453C142 434 94 422 43 413V386C98 378 104 373 104 309V107C104 41 100 38 31 30V0H251V30C191 35 185 40 185 107V337C216 364 255 389 295 389C360 389 386 347 386 276V110C386 44 380 35 321 30V0H532Z" id="g58-108"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.238,3.132)"><path d="M156 406V710C117 695 54 682 9 675V647C73 642 75 635 75 573V25C131 -2 180 -12 223 -12C359 -12 478 92 478 240C478 357 387 451 278 451C265 451 251 447 236 440L156 406ZM156 373C175 384 208 392 235 392C315 392 387 328 387 214C387 97 332 30 251 31C197 31 170 66 162 84C158 93 156 104 156 118V373Z" id="g58-96"></path></g></svg>,</span> <span class="nowrap"><svg height="9.33485pt" id="M64" style="vertical-align:-3.295671pt" version="1.1" viewbox="-0.0498162 -6.03918 22.3748 9.33485" width="22.3748pt" 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="M220 349V455C158 436 98 425 38 417V389C85 378 92 374 92 323V104C92 43 83 38 28 32V0H302V32C225 38 220 43 220 104V291C237 330 257 343 276 343C292 343 305 336 322 322C329 316 339 313 353 318C379 328 402 356 402 392C402 426 374 454 335 454C297 454 259 411 222 349H220Z" id="g13-112"></path></g><g transform="matrix(.0091,0,0,-0.0091,5.252,3.132)"><path d="M156 406V710C117 695 54 682 9 675V647C73 642 75 635 75 573V25C131 -2 180 -12 223 -12C359 -12 478 92 478 240C478 357 387 451 278 451C265 451 251 447 236 440L156 406ZM156 373C175 384 208 392 235 392C315 392 387 328 387 214C387 97 332 30 251 31C197 31 170 66 162 84C158 93 156 104 156 118V373Z" id="g58-96"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.957,3.132)"><path d="M387 665C175 665 46 498 46 318C46 123 194 -15 374 -15C558 -15 712 114 712 333C712 535 557 665 387 665ZM364 625C495 625 607 518 607 306C607 115 505 25 396 25C256 25 151 161 151 346C151 532 255 625 364 625Z" id="g58-77"></path></g><g transform="matrix(.0091,0,0,-0.0091,16.781,3.132)"><path d="M502 500C497 551 492 613 491 650H43V617C122 612 130 606 130 521V129C130 45 122 38 41 33V0H319V33C227 38 217 45 217 129V305H319C411 305 413 295 427 225H461V421H427C414 357 411 348 319 348H217V580C217 609 219 612 250 612H330C401 612 423 605 439 578C452 557 458 539 467 496L502 500Z" id="g58-68"></path></g></svg>,</span> and <svg height="9.33485pt" id="M65" style="vertical-align:-3.295671pt" version="1.1" viewbox="-0.0498162 -6.03918 22.7401 9.33485" width="22.7401pt" 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="M220 349V455C158 436 98 425 38 417V389C85 378 92 374 92 323V104C92 43 83 38 28 32V0H302V32C225 38 220 43 220 104V291C237 330 257 343 276 343C292 343 305 336 322 322C329 316 339 313 353 318C379 328 402 356 402 392C402 426 374 454 335 454C297 454 259 411 222 349H220Z" id="g13-112"></path></g><g transform="matrix(.0091,0,0,-0.0091,5.252,3.132)"><path d="M532 0V30C473 38 467 38 467 107V298C467 395 416 451 336 451C307 451 279 439 251 420C226 404 205 389 185 374V453C142 434 94 422 43 413V386C98 378 104 373 104 309V107C104 41 100 38 31 30V0H251V30C191 35 185 40 185 107V337C216 364 255 389 295 389C360 389 386 347 386 276V110C386 44 380 35 321 30V0H532Z" id="g58-108"></path></g><g transform="matrix(.0091,0,0,-0.0091,10.321,3.132)"><path d="M387 665C175 665 46 498 46 318C46 123 194 -15 374 -15C558 -15 712 114 712 333C712 535 557 665 387 665ZM364 625C495 625 607 518 607 306C607 115 505 25 396 25C256 25 151 161 151 346C151 532 255 625 364 625Z" id="g58-77"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.145,3.132)"><path d="M502 500C497 551 492 613 491 650H43V617C122 612 130 606 130 521V129C130 45 122 38 41 33V0H319V33C227 38 217 45 217 129V305H319C411 305 413 295 427 225H461V421H427C414 357 411 348 319 348H217V580C217 609 219 612 250 612H330C401 612 423 605 439 578C452 557 458 539 467 496L502 500Z" id="g58-68"></path></g></svg> are used to express the relative position of the origin of each coordinate system.</div>

Journal of Sensors

fig3

Figure 3

Figure 3: Fault-Tolerant Optical Flow Sensor/SINS Integrated Navigation Scheme for MAV in a GPS-Denied Environment 