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

Table 6

Optimal placement scheme of the optical flow sensors.

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