Under CopyrightSurmann, HartmutWorst, RainerWilkes, StefanStefanWilkes2022-03-0714.3.20172015https://publica.fraunhofer.de/handle/publica/28138210.24406/publica-fhg-281382de0050066293D Navigation eines UAVs in Umgebungen ohne GPS Empfang3D navigation for UAVs in GPS denied environmentsmaster thesis