Unmanned Aerial Vehicle Navigation Using Wide-Field Optical Flow and Inertial Sensors

Table 1

Details for WVU Phastball aircraft.

Property	Value
Length	2.2 m
Wingspan	2.4 m
Takeoff mass	11 kg
Payload mass	3 kg
Propulsion system	Dual 90 mm Ducted Fan Motor
Static thrust	60 N
Fuel capacity	Two 5 Ah LiPo batteries
Cruise speed	30 m/s
Mission duration	6 min