Abstract
In response to the demand for high-precision positioning in the consumer market for low-speed UAVs, this paper proposes an ultra-low-cost fusion positioning system architecture, selecting consumer-grade GNSS Ublox M8T, IMU MPU 9250 modules and binocular cameras as the main equipment. We fused raw data measured from multi-sensors by expansion Kalman filter(EKF), and tested the fusion positioning performance of MEMS-IMU and VIO through simulation interruption experiment. The experimental results show that the ultra-low-cost single-frequency RTK/VIO/MEMS-IMU multi-sensor fusion positioning system can provide high-precision, reliable, continuous and smooth positioning results.
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