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Robust, high-precision global localization is fundamental to a wide range ofoutdoor robotics applications. Conventional fusion methods use low-accuracypseudorange based GNSS measurements ($>>5m$ errors) and can only yield a coarseregistration to the global earth-centered-earth-fixed (ECEF) frame. In thispaper, we leverage high-precision GNSS carrier-phase positioning and aid itwith local visual-inertial odometry (VIO) tracking using an extended Kalmanfilter (EKF) framework that better resolves the integer ambiguity concernedwith GNSS carrier-phase. %to achieve centimeter-level accuracy in the ECEFframe. We also propose an algorithm for accurate GNSS-antenna-to-IMU extrinsicscalibration to accurately align VIO to the ECEF frame. Together, our systemachieves robust global positioning demonstrated by real-world hardwareexperiments in severely occluded urban canyons, and outperforms thestate-of-the-art RTKLIB by a significant margin in terms of integer ambiguitysolution fix rate and positioning RMSE accuracy.

Robust, High-Precision GNSS Carrier-Phase Positioning with Visual-Inertial Fusion