Abstract: A proximity detector, unmanned aerial vehicle (UAV), and method for outputting a displacement are provided. The proximity detector includes a velocity sensor, a displacement sensor, and integration logic. The integration login is configured to receive displacement values from the displacement sensor and integrate velocity values received from the velocity sensor. Based on the integrated velocity value and a first displacement value, the integration logic determines an estimated displacement value. A difference is determined between the estimated displacement value and a second displacement value. If the difference is less than a difference threshold, the second displacement value is output. The UAV and/or other vehicles may utilize the proximity sensor to provide data for vehicle control and operation, including maneuvering and landing the vehicle.