A tightly coupled visual-inertial-GNSS state estimator based on graph optimization

Kai Zhang; Bo Dong

doi:10.1117/12.2639590

1 August 2022 A tightly coupled visual-inertial-GNSS state estimator based on graph optimization

Kai Zhang, Bo Dong

Proceedings Volume 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022); 122573B (2022) https://doi.org/10.1117/12.2639590
Event: 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 2022, Guangzhou, China

Abstract

This paper proposes a tightly coupled GNSS-VIO system based on Visual, IMU, and GNSS measurements. For complex areas, the pseudorange proves fast and efficient, but can only achieve meter-level positioning precision. The carrier phase can achieve centimeter-level positioning precision but is required to solve the ambiguity of the whole cycle, which is difficult and time-consuming. To combine the advantages of the two measurements, we replace the pseudorange factor with the carrier phase smoothing pseudorange factor in the factor graph. In addition, to obtain accurate positioning results, we need to calibrate the extrinsic translation parameter between GNSS and IMU. Therefore, a real-time calibration method based on smoothing pseudorange is designed. Experimental results on public dataset show that our system not only eliminates the drift of VIO system but also has better positioning accuracy compared with the existing loosely coupled and tightly coupled GNSS-VIO systems.

Citation Download Citation

Kai Zhang and Bo Dong "A tightly coupled visual-inertial-GNSS state estimator based on graph optimization", Proc. SPIE 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 122573B (1 August 2022); https://doi.org/10.1117/12.2639590

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KEYWORDS

Satellite navigation systems

Receivers

Visualization

Calibration

Satellites

Cameras

Sensors

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