GPS/INS/optic flow data fusion for position and Velocity estimation

This paper presents a simple and easy to implement sensor data fusion algorithm, using a Kalman filter (KF) in a loosely coupled scheme, for estimation of the velocity and position of an object evolving in a three dimensional space. A global positioning system (GPS) provides the position measurement while the velocity measurement is taken from the optical flow sensor, finally, the inertial navigation system (INS) gives the acceleration, which is considered as the input of the system. Real time experimental results are shown to validate the proposed algorithm.