MEMS-inertial/GPS integrated navigation system is usually used in MUAV to provide parameters of its velocity-

position

attitude.However

GPS is susceptible to interference in complex environment

such as high-rise street

tunnels

canyon

ere

which will not satisfy- the safety- needs of autonomous flight.To solve this problem

a MEMS-inerfial/optieal-flow autonomous navigation scheme without GPS and analyzed based on a non-linear fused navigation method based on unscented Kalman filtering（UKF） fusion technology is proposed

hovering and waypoint flight experiments of quadrotor helicopter are conducted to verify- the system performance.Experimental results show that the inerfial/opfieal-flow/magnetometer integrated system has advantages such as low-cost

strong autonomy of navigation and high precision

which implies practical application value of MUAV.