A Framework for Low-cost Fusion Positioning with Single Frequency RTK/MEMS-IMU/VIO. Issue 1 (January 2021)

• Record Type: Journal Article
• Authors: Liu, Xin; Li, Deng; Shi, Junjiong; Li, Anran; Jiang, Lin
• Is Part Of: Journal of physics. Volume 1738:Issue 1(2021)
• Publication Date: 2021-01
• Subjects: Physics -- Congresses; 530.5
• DOI: 10.1088/1742-6596/1738/1/012007
• Languages: English
• ISSNs: 1742-6588

Abstract

Abstract: In response to the demand for high-precision positioning in the consumer market for low-speed UAVs, this paper proposes an ultra-low-cost fusion positioning system architecture, selecting consumer-grade GNSS Ublox M8T, IMU MPU 9250 modules and binocular cameras as the main equipment. We fused raw data measured from multi-sensors by expansion Kalman filter(EKF), and tested the fusion positioning performance of MEMS-IMU and VIO through simulation interruption experiment. The experimental results show that the ultra-low-cost single-frequency RTK/VIO/MEMS-IMU multi-sensor fusion positioning system can provide high-precision, reliable, continuous and smooth positioning results.