![](/images/graphics-bg.png)
Optical Flow SensorINSMagnetometer Integrated Navigation System for MAV in GPS-Denied Environment
Joint Authors
Shen, Chong
Liu, Jun
Jun, Tang
Bai, Zesen
Cao, Huiliang
Xu, Ke
Wang, Chenguang
Zhang, Huaiyu
Wang, Ding
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-16
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
The drift of inertial navigation system (INS) will lead to large navigation error when a low-cost INS is used in microaerial vehicles (MAV).
To overcome the above problem, an INS/optical flow/magnetometer integrated navigation scheme is proposed for GPS-denied environment in this paper.
The scheme, which is based on extended Kalman filter, combines INS and optical flow information to estimate the velocity and position of MAV.
The gyro, accelerator, and magnetometer information are fused together to estimate the MAV attitude when the MAV is at static state or uniformly moving state; and the gyro only is used to estimate the MAV attitude when the MAV is accelerating or decelerating.
The MAV flight data is used to verify the proposed integrated navigation scheme, and the verification results show that the proposed scheme can effectively reduce the errors of navigation parameters and improve navigation precision.
American Psychological Association (APA)
Shen, Chong& Bai, Zesen& Cao, Huiliang& Xu, Ke& Wang, Chenguang& Zhang, Huaiyu…[et al.]. 2016. Optical Flow SensorINSMagnetometer Integrated Navigation System for MAV in GPS-Denied Environment. Journal of Sensors،Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1110537
Modern Language Association (MLA)
Shen, Chong…[et al.]. Optical Flow SensorINSMagnetometer Integrated Navigation System for MAV in GPS-Denied Environment. Journal of Sensors No. 2016 (2016), pp.1-10.
https://search.emarefa.net/detail/BIM-1110537
American Medical Association (AMA)
Shen, Chong& Bai, Zesen& Cao, Huiliang& Xu, Ke& Wang, Chenguang& Zhang, Huaiyu…[et al.]. Optical Flow SensorINSMagnetometer Integrated Navigation System for MAV in GPS-Denied Environment. Journal of Sensors. 2016. Vol. 2016, no. 2016, pp.1-10.
https://search.emarefa.net/detail/BIM-1110537
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110537