{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,25]],"date-time":"2025-04-25T15:47:22Z","timestamp":1745596042117,"version":"3.37.3"},"reference-count":11,"publisher":"Wiley","license":[{"start":{"date-parts":[[2018,9,20]],"date-time":"2018-09-20T00:00:00Z","timestamp":1537401600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61403007"],"award-info":[{"award-number":["61403007"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Sensors"],"published-print":{"date-parts":[[2018,9,20]]},"abstract":"<jats:p>An integrated navigation scheme based on multiple optical flow sensors and a strapdown inertial navigation system (SINS) are presented, instead of the global position system (GPS) aided. Multiple optical flow sensors are mounted on a micro air vehicle (MAV) at different positions with different viewing directions for detecting optical flow around the MAV. A fault-tolerant decentralized extended Kalman filter (EKF) is performed for estimating navigation errors by fusing the inertial and optical flow measurements, which can prevent the estimation divergence caused by the failure of the optical flow sensor. Then, the estimation of navigation error is inputted into the SINS settlement process for correcting the SINS measurements. The results verify that the navigation errors of SINS can be effectively reduced (even more than 9\/10). Moreover, although the sensor is in a state of failure for 400 seconds, the fault-tolerant integrated navigation system can still work properly without divergence.<\/jats:p>","DOI":"10.1155\/2018\/9678505","type":"journal-article","created":{"date-parts":[[2018,9,20]],"date-time":"2018-09-20T19:35:20Z","timestamp":1537472120000},"page":"1-17","source":"Crossref","is-referenced-by-count":10,"title":["Fault-Tolerant Optical Flow Sensor\/SINS Integrated Navigation Scheme for MAV in a GPS-Denied Environment"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6887-2268","authenticated-orcid":true,"given":"Zhongyuan","family":"Chen","sequence":"first","affiliation":[{"name":"School of Astronautics, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wanchun","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Astronautics, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7631-751X","authenticated-orcid":true,"given":"Xiaoming","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Astronautics, Beihang University, Beijing 100191, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chuang","family":"Song","sequence":"additional","affiliation":[{"name":"Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory, Beijing Electro-Mechanical Engineering Institute, Beijing 100074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.3390\/aerospace3030021"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2014.2312916"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1126\/science.287.5454.851"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1017\/S095252380000136X"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.3390\/aerospace2020189"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.09.016"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-014-0062-5"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijleo.2015.10.092"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1155\/2016\/6105803"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463316000539"},{"year":"2015","key":"18"}],"container-title":["Journal of Sensors"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2018\/9678505.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2018\/9678505.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/js\/2018\/9678505.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2018,9,20]],"date-time":"2018-09-20T19:35:22Z","timestamp":1537472122000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/js\/2018\/9678505\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,9,20]]},"references-count":11,"alternative-id":["9678505","9678505"],"URL":"https:\/\/doi.org\/10.1155\/2018\/9678505","relation":{},"ISSN":["1687-725X","1687-7268"],"issn-type":[{"type":"print","value":"1687-725X"},{"type":"electronic","value":"1687-7268"}],"subject":[],"published":{"date-parts":[[2018,9,20]]}}}