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

Table 1

Comparison results between INS only and OFS/INS/magnetometer at the end position.

Ground truth position at the end		⁢INS only		⁢OFS/INS/magnetometer
Directions	Ground truth value	Measurements	Error	Estimation	Error
	0	−1.87	—	0.25	—
	50	57.8	15.6%	50.9	1.8%
	0	0.78	—	0.14	—