Abstract
An integrated navigation scheme based on multiple optical flow sensors and a strapdown inertial navigation system (SINS) are presented, instead of the global position system (GPS) aided. Multiple optical flow sensors are mounted on a micro air vehicle (MAV) at different positions with different viewing directions for detecting optical flow around the MAV. A fault-tolerant decentralized extended Kalman filter (EKF) is performed for estimating navigation errors by fusing the inertial and optical flow measurements, which can prevent the estimation divergence caused by the failure of the optical flow sensor. Then, the estimation of navigation error is inputted into the SINS settlement process for correcting the SINS measurements. The results verify that the navigation errors of SINS can be effectively reduced (even more than 9/10). Moreover, although the sensor is in a state of failure for 400 seconds, the fault-tolerant integrated navigation system can still work properly without divergence.
Highlights
In recent years, unmanned air vehicles have been widely used in military and civil fields
Inspired by flying insects that have the ability to fly with great agility, scientists hope that micro air vehicles (MAVs) could fly like the insects without the aid of global position system (GPS) signals [2]
An optical flow sensor/strapdown inertial navigation system (SINS) integrated navigation scheme for MAV is developed for reducing the RMSE of VN (m/s)
Summary
In recent years, unmanned air vehicles have been widely used in military and civil fields. The optical flow contains the egomotion information of honeybees or MAVs. it is a reasonable navigation frame that combines the optical flow and the inertial navigation system (INS) measurement information in order to improve the navigation precision. In order to overcome the drift of INS, Shen et al [11] designed an INS/optical flow/magnetometer integrated navigation scheme for a GPS-denied environment. A multiple optical flow sensor/SINS onboard integrated navigation scheme for a GPS-denied environment is proposed. The author arrives at the conclusion that the fault-tolerant optical flow sensor/SINS integrated navigation algorithm is effective
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