Seeing and Inertial Integrating Is Believing: Multi-Antenna Vision-and-Inertial-Aided CDGNSS for Micro Aerial Vehicle Pose Estimation
Multi-antenna carrier-phase differential GNSS (CDGNSS)-based pose (position and orientation) estimation aided by monocular visual measurements and a smartphone-grade inertial sensor form the core of a system designed for micro aerial vehicles. It can be applied generally for low-cost, lightweight, high-accuracy, geo-referenced pose estimation.