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arXiv · 2303.01291

Robust, High-Precision GNSS Carrier-Phase Positioning with Visual-Inertial Fusion

Erqun Dong·Sheroze Sheriffdeen·Shichao Yang·Jing Dong·Renzo De Nardi·Carl Ren·Xiao-Wen Chang·Xue Liu·Zijian Wang
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Abstract

Robust, high-precision global localization is fundamental to a wide range of outdoor robotics applications. Conventional fusion methods use low-accuracy pseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarse registration to the global earth-centered-earth-fixed (ECEF) frame. In this paper, we leverage high-precision GNSS carrier-phase positioning and aid it with local visual-inertial odometry (VIO) tracking using an extended Kalman filter (EKF) framework that better resolves the integer ambiguity concerned with GNSS carrier-phase. %to achieve centimeter-level accuracy in the ECEF frame. We also propose an algorithm for accurate GNSS-antenna-to-IMU extrinsics calibration to accurately align VIO to the ECEF frame. Together, our system achieves robust global positioning demonstrated by real-world hardware experiments in severely occluded urban canyons, and outperforms the state-of-the-art RTKLIB by a significant margin in terms of integer ambiguity solution fix rate and positioning RMSE accuracy.

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Erqun Dong, Sheroze Sheriffdeen, Shichao Yang, Jing Dong, Renzo De Nardi, Carl Ren, Xiao-Wen Chang, Xue Liu, Zijian Wang. 2023-03-02. Robust, High-Precision GNSS Carrier-Phase Positioning with Visual-Inertial Fusion. https://arxiv.org/abs/2303.01291

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