Navigation algorithm for small UAV without GPS based on optical flow

Aiming at problem of big error of inertial navigation integration,a fusion algorithm based on inertial element and optical flow sensor is proposed,which uses data of optical flow sensor to compensate measurement error of the inertia element and realize the accurate estimation of horizontal position and the horizontal speed of the aircraft,improve the speed control and position control ability of the rotorcraft without GPS. The PX4 FLOW optical flow sensor is used to build the rotorcraft hardware platform. The experimental results show that the optical flow fusion algorithm can provide accurate speed and position information of unmanned aerial vehicle( UAV).