Aminzadeh and Atashgah Figure 9. Image quality (see (20)) under adverse lighting conditions. Figure 10. Predicted velocity error under adverse lighting conditions. Figure 11. (a) Predicted position error under adverse lighting conditions in comparison with reference path and the flight path under desired illumination condition. (b) Image quality factor (see (20)) under adverse and desirable optical conditions of indoor flight test. (c) Velocity components under adverse and desirable optical conditions for indoor test. (d) 3D position predictions under adverse and desirable optical condition for indoor test. NOVEMBER 2018 IEEE A&E SYSTEMS MAGAZINE 27