DGVINS: Tightly Coupled Differential GNSS/Visual/Inertial for Robust Positioning Based on Optimization Approach

Abstract Due to the fragility of single-sensor positioning technology in complex scenarios, especially in complex urban areas, multi-sensor positioning technology is becoming increasingly popular. To further improve the robustness of the positioning system by fully utilizing the information from various sensors, this article proposes a differential-GNSS-visual-inertial navigation system (DGVINS) that tightly fuses differential global navigation satellite system (GNSS), vision and inertial information to provide accurate, robust and seamless position information for intelligent navigation applications. DGVINS effectively utilizes all sensor measurements within the factor graph optimization (FGO) framework. When using the carrier phase of GNSS, single-epoch ambiguity optimization is employed to prevent cycle slip detection and adapted to complex environments. We conducted experiments on public datasets with various features and compared the performance of simple differential-GNSS (DGNSS), DGNSS+Inertial, and the state-of-the-art GNSS-visual-inertial navigation systems (GVINS). We also compared the performance of different combinations of GNSS differential factors in various environments. Due to the superiority of differential GNSS and its appropriate integration with visual and inertial measurements, the experimental results demonstrate that DGVINS exhibits significant improvements in accuracy, stability, and continuity in both GNSS-challenged and vision-challenged environments.