UAV positioning method based on LiDAR-IMU-optical flow tightcoupling in GNSS-denied tunnel
Wang Yicun, Xue Kechong, Ye Liangliang, Chen Diangan, Yu Feiyan
Bulletin of Surveying and Mapping . 2026, (8): 21 -27 .  DOI: 10.13474/j.cnki.11-2246.2026.0804