A Novel Fusion Scheme for Vision Aided Inertial Navigation of Aerial Vehicles

Table 1

Initial conditions.

	INS	SAR
Longitude, latitude (deg)	120,30	120,30
Height (m)	10000	10000
Velocity (NED) (m/s)	0,100,0	0,100,0
Attitude (roll, pitch, and yaw) (deg)	0,0,0	0,0,0