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

Figure 7

The influence of the optical flow sensor amount on the estimation performance. The blue, red, yellow, purple, and green curves are the navigation errors of SINS only, one optical flow sensor-aided, two optical flow sensor-aided, three optical flow sensor-aided, and four optical flow sensor-aided inertial navigation system, respectively.