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

Table 2

Case 2: optical flow sensors are mounted closely on the MAV.

Sensor identifier	(m)	(m)	(m)	(rad)	(rad)
1	0	0.1	0
2	0.1	0	0		0
3	−0.1	0	0		0
4	0	−0.1	0