The drift of inertial navigation system (INS) will lead to large navigation error when a low-cost INS is used in microaerial\nvehicles (MAV). To overcome the above problem, an INS/optical flow/magnetometer integrated navigation scheme is proposed\nfor GPS-denied environment in this paper. The scheme, which is based on extended Kalman filter, combines INS and optical flow\ninformation to estimate the velocity and position of MAV. The gyro, accelerator, and magnetometer information are fused together\nto estimate the MAV attitude when the MAV is at static state or uniformly moving state; and the gyro only is used to estimate\nthe MAV attitude when the MAV is accelerating or decelerating. The MAV flight data is used to verify the proposed integrated\nnavigation scheme, and the verification results show that the proposed scheme can effectively reduce the errors of navigation\nparameters and improve navigation precision.
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