The drift of inertial navigation system( INS) will lead to large navigation error when a low-cost INS is used in small UAV. To overcome the above problem,an INS/Optical Flow/Magnetometer integrated Navigation scheme is proposed. The scheme,which is based on the extended Kalman filter,combines INS and Optical Flow information to estimate the velocity and position of UAV,and combines gyro,accelerator and magnetometer information to estimate the UAV attitude when the UAV is at rest or in uniform motion,and uses gyro to estimate the UAV attitude when the UAV is accelerating or decelerating. The UAV flight data is used to verify the proposed integrated navigation scheme,and the verification results show that the proposed scheme can effectively reduce the errors of navigation parameters and improve navigation precision.%由于低成本的惯性导航系统存在较为严重的漂移,小型无人机在使用其导航时,往往会出现较大的误差.针对这一问题,提出了一种INS/光流/磁强计组合导航方案:基于扩展卡尔曼滤波,将INS与光流数据融合,估计无人机的速度和位置.当无人机静止或匀速运动时,将陀螺仪与加速计、磁强计的数据融合,估计无人机的姿态;当无人机加速或减速时,用陀螺仪估计无人机的姿态.利用无人机飞行数据对本文所提出的组合导航方案进行了验证,验证结果表明,该方案有效的减少导航时的速度、位置和姿态的误差,提高导航精度.
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