Square-Root Inverse Filter-based GNSS-Visual-Inertial Navigation
Jun Hu,Xiaoming Lang,Feng Zhang,Yinian Mao,Guoquan Huang,Jun Hu,Xiaoming Lang,Feng Zhang,Yinian Mao,Guoquan Huang
While Global Navigation Satellite System (GNSS) is often used to provide global positioning if available, its intermittency and/or inaccuracy calls for fusion with other sensors. In this paper, we develop a novel GNSS-Visual-Inertial Navigation System (GVINS) that fuses visual, inertial, and raw GNSS measurements within the square-root inverse sliding window filtering (SRI-SWF) framework in a tigh...
