A UAV positioning strategy based on optical flow sensor and inertial navigation

In this paper, a thorough research to the small unmanned aerial vehicle localization technology based on the fusion of optical flow and inertial navigation information has been conducted. An experiment platform based on Pixhawk and PX4FLOW is built to test the performance of optical flowAnertial localization system Experiment results shows that this system can work at both indoor and outdoor environment. In the indoor environment, the optical flowAnertial positioning system has better accuracy compared with the system using pure optical flow information. In the outdoor environment, the results proves that this system is a potential solution for UAV positioning in GPS-denied environment-with an error of 5 meters.