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

Table 4

Case 4: mounting positions of optical flow sensors are wingtips, nose, and tail of the MAV (The distances between each sensor and the gravity centre of the MAV are as long as possible.)

Sensor identifier	(m)	(m)	(m)	(rad)	(rad)
1	0	0.2	0
2	0.76	0	0		0
3	−0.76	0	0		0
4	0	−0.2	0