This paper offers a set of novel navigation techniques that rely on the use of inertial sensors and wide-field optical flow information.\nThe aircraft ground velocity and attitude states are estimated with an Unscented Information Filter (UIF) and are evaluated with\nrespect to two sets of experimental flight data collected from an Unmanned Aerial Vehicle (UAV). Two different formulations are\nproposed, a full state formulation including velocity and attitude and a simplified formulation which assumes that the lateral and\nvertical velocity of the aircraft are negligible. An additional state is also considered within each formulation to recover the image\ndistance which can be measured using a laser rangefinder.The results demonstrate that the full state formulation is able to estimate\nthe aircraft ground velocity to within 1.3 m/s of a GPS receiver solution used as reference ââ?¬Å?truthââ?¬Â and regulate attitude angles within\n1.4 degrees standard deviation of error for both sets of flight data.
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