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

Table 1

Case 1: optical flow sensors are mounted at the centre of gravity of the MAV.

Sensor identifier	(m)	(m)	(m)	(rad)	(rad)
1	0	0	0
2	0	0	0		0
3	0	0	0		0
4	0	0	0