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

Table 8

Computing time under different sampling periods.

Sampling period (s)	Computation time (s)
	INS only	Centralized EKF	FDI-EKF
0.1	0.9432	4.1114	—
0.02	3.8230	19.0431	95.7955
0.01	7.5288	37.9740	193.7792
0.002	37.9699	188.8640	959.3003
0.001	74.8733	372.7788	1911.1021