How Inertial Navigation Systems Work Without GPS

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Hi all,I’ve been testing some autonomous drone behavior in GPS-denied environments (indoor hangars and tunnels mostly), and I’m curious about how reliable your inertial navigation performance has been without GNSS.Anyone running CUAV or PX4 systems with good results using just IMU + barometer + compass?
I stumbled across this write-up that helped explain how drift accumulates and how to reduce it with calibration and sensor fusion:Drone INS Operate Without GPS
Would love to know how others are tuning their EKF or if optical flow is essential in these scenarios.

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thanks for responding. :smile:

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I thought this was posted in rover lol i was on my phone.

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