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Journal of Sensors
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2016
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Article
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Tab 1
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Research Article
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
—