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Journal of Sensors
Volume 2016 (2016), Article ID 6105803, 10 pages
Research Article

Optical Flow Sensor/INS/Magnetometer Integrated Navigation System for MAV in GPS-Denied Environment

1National Key Laboratory for Electronic Measurement Technology, Key Laboratory of Instrumentation Science & Dynamic Measurement, Ministry of Education, School of Instrument and Electronics, North University of China, Taiyuan 030051, China
2School of Electronics Engineering and Computer Science, Peking University, Beijing 100871, China

Received 19 November 2015; Accepted 12 January 2016

Academic Editor: Fadi Dornaika

Copyright © 2016 Chong Shen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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