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

Table 3

Case 3: the coordinate values of the sensor mounting positions are half of those in case 4.

Sensor identifier	(m)	(m)	(m)	(rad)	(rad)
1	0	0.1	0
2	0.38	0	0		0
3	−0.38	0	0		0
4	0	−0.1	0