Continuous and Precise Positioning in Urban Environments by Tightly Coupled Integration of GNSS, INS and Vision

Accurate, continuous and seamless state estima- tion is the fundamental module for intelligent navigation applications, such as self-driving cars and autonomous robots. However, it is often difficult for a standalone sensor to fulfill the demanding requirements of precise navigation in complex scenarios. To fill this gap, this paper proposes to exploit the complementariness of the GNSS, inertial measurement unit (IMU) and vision via a tightly coupled integration method, aiming to achieve continuous and accurate navigation in urban environments. Specifically, the raw GNSS carrier phase and pseudorange measurements, IMU data, and visual features are directly fused at the observation level through a centralized Extended Kalman Filter (EKF) to make full use of the multi- sensor information and reject potential outlier measurements. Furthermore, the widely used high-precision GNSS models in- cluding precise point positioning (PPP) and real-time kinematic (RTK) are unified in the proposed integrated system to increase usability and flexibility. We validate the performance of the proposed method on several challenging datasets collected in urban canyons and compare against the loosely coupled and state-of-the-art methods.