{"id":"https://openalex.org/W4323072977","doi":"https://doi.org/10.48550/arxiv.2303.01291","title":"Robust, High-Precision GNSS Carrier-Phase Positioning with Visual-Inertial Fusion","display_name":"Robust, High-Precision GNSS Carrier-Phase Positioning with Visual-Inertial Fusion","publication_year":2023,"publication_date":"2023-03-02","ids":{"openalex":"https://openalex.org/W4323072977","doi":"https://doi.org/10.48550/arxiv.2303.01291"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2303.01291","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.01291","pdf_url":"https://arxiv.org/pdf/2303.01291","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2303.01291","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048962993","display_name":"Erqun Dong","orcid":"https://orcid.org/0000-0003-4304-2721"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Dong, Erqun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063751902","display_name":"Sheroze Sheriffdeen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sheriffdeen, Sheroze","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091266941","display_name":"Shichao Yang","orcid":"https://orcid.org/0000-0002-0042-4650"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Shichao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115590238","display_name":"Jing Dong","orcid":"https://orcid.org/0000-0002-3684-2432"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Jing","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054986637","display_name":"Renzo De Nardi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"De Nardi, Renzo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108512200","display_name":"Carl Yuheng Ren","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ren, Carl","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062087251","display_name":"Xiao-Wen Chang","orcid":"https://orcid.org/0000-0001-9251-2959"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chang, Xiao-Wen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100372152","display_name":"Xue Liu","orcid":"https://orcid.org/0000-0001-5252-3442"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Xue","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100371704","display_name":"Zijian Wang","orcid":"https://orcid.org/0000-0002-3618-2227"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zijian","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5048962993"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9746000170707703,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pseudorange","display_name":"Pseudorange","score":0.7943495512008667},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.7846125364303589},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6700021028518677},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5687692761421204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5658697485923767},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5302780866622925},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.5255918502807617},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.48721498250961304},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4610973596572876},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.395877480506897},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10827040672302246}],"concepts":[{"id":"https://openalex.org/C174201072","wikidata":"https://www.wikidata.org/wiki/Q1187347","display_name":"Pseudorange","level":4,"score":0.7943495512008667},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.7846125364303589},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6700021028518677},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5687692761421204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5658697485923767},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5302780866622925},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.5255918502807617},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.48721498250961304},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4610973596572876},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.395877480506897},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10827040672302246}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2303.01291","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.01291","pdf_url":"https://arxiv.org/pdf/2303.01291","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2303.01291","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2303.01291","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2303.01291","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2303.01291","pdf_url":"https://arxiv.org/pdf/2303.01291","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4323072977.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3216386610","https://openalex.org/W2796739365","https://openalex.org/W4239395258","https://openalex.org/W3204981892","https://openalex.org/W4380563814","https://openalex.org/W3130617165","https://openalex.org/W2904557485","https://openalex.org/W3198415914","https://openalex.org/W4387760931","https://openalex.org/W52232948"],"abstract_inverted_index":{"Robust,":[0],"high-precision":[1,43],"global":[2,34,104],"localization":[3],"is":[4],"fundamental":[5],"to":[6,32,91,95],"a":[7,29,122],"wide":[8],"range":[9],"of":[10,127],"outdoor":[11],"robotics":[12],"applications.":[13],"Conventional":[14],"fusion":[15],"methods":[16],"use":[17],"low-accuracy":[18],"pseudorange":[19],"based":[20],"GNSS":[21,44,71],"measurements":[22],"($&gt;&gt;5m$":[23],"errors)":[24],"and":[25,47,116,133],"can":[26],"only":[27],"yield":[28],"coarse":[30],"registration":[31],"the":[33,66,78,96,118],"earth-centered-earth-fixed":[35],"(ECEF)":[36],"frame.":[37,80,98],"In":[38],"this":[39],"paper,":[40],"we":[41],"leverage":[42],"carrier-phase":[45],"positioning":[46,105,134],"aid":[48],"it":[49],"with":[50,70],"local":[51],"visual-inertial":[52],"odometry":[53],"(VIO)":[54],"tracking":[55],"using":[56],"an":[57,84],"extended":[58],"Kalman":[59],"filter":[60],"(EKF)":[61],"framework":[62],"that":[63],"better":[64],"resolves":[65],"integer":[67,128],"ambiguity":[68,129],"concerned":[69],"carrier-phase.":[72],"%to":[73],"achieve":[74],"centimeter-level":[75],"accuracy":[76],"in":[77,111,125],"ECEF":[79,97],"We":[81],"also":[82],"propose":[83],"algorithm":[85],"for":[86],"accurate":[87],"GNSS-antenna-to-IMU":[88],"extrinsics":[89],"calibration":[90],"accurately":[92],"align":[93],"VIO":[94],"Together,":[99],"our":[100],"system":[101],"achieves":[102],"robust":[103],"demonstrated":[106],"by":[107,121],"real-world":[108],"hardware":[109],"experiments":[110],"severely":[112],"occluded":[113],"urban":[114],"canyons,":[115],"outperforms":[117],"state-of-the-art":[119],"RTKLIB":[120],"significant":[123],"margin":[124],"terms":[126],"solution":[130],"fix":[131],"rate":[132],"RMSE":[135],"accuracy.":[136]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}
