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

Table 7

Initial parameters of the simulation.

Parameter	Magnitude
Sampling period	0.01 s
Random bias of the gyro in SINS	10 deg/h
Random walk process noise standard deviation of the accelerometer in SINS	0.005 g ()
Initial position	, ,
Initial attitude (pitch, roll, and yaw)	, , ,
Initial velocity	,,
Initial error state