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Low-cost PPP/visual/IMU fused positioning method based on factor graph optimization under complex urban environments

Guorui Xiao Peigong Li Tao Li Baoxiang Zhang Zhengyang Xiao Honglei Ma Kai Xiao

大地测量与地球动力学（英文版）2026，Vol.17Issue(4)：514-529,16.

大地测量与地球动力学（英文版）2026，Vol.17Issue(4)：514-529,16.DOI:10.1016/j.geog.2026.03.004

Low-cost PPP/visual/IMU fused positioning method based on factor graph optimization under complex urban environments

Guorui Xiao ¹Peigong Li ²Tao Li ³Baoxiang Zhang ⁴Zhengyang Xiao ²Honglei Ma ²Kai Xiao²

作者信息

1. Information Engineering University,Zhengzhou 450052,China||State Key Laboratory of Spatial Datum,Xi'an 710054,China||Chinese Academy of Surveying and Mapping,Beijing 100036,China
2. Information Engineering University,Zhengzhou 450052,China
3. Zhejiang University of Technology,Hangzhou 310023,China
4. China University of Geosciences,Beijing 100083,China
折叠

摘要

关键词

PPP/SLAM/Multi-sensor integration/INS/Visual

Key words

PPP/SLAM/Multi-sensor integration/INS/Visual

引用本文复制引用

Guorui Xiao,Peigong Li,Tao Li,Baoxiang Zhang,Zhengyang Xiao,Honglei Ma,Kai Xiao..Low-cost PPP/visual/IMU fused positioning method based on factor graph optimization under complex urban environments[J].大地测量与地球动力学（英文版）,2026,17(4):514-529,16.

基金项目

This research was supported by the National Natural Science Foundation of China(grant nos.42274045 and 41904039),Natural Science Foundation of Henan(grant no.232300421105)and China Postdoctoral Science Foundation(grant nos.2023M733285 and 2024T170851),National Natural Science Foundation of China un-der Grant(62503428). （grant nos.42274045 and 41904039）

大地测量与地球动力学（英文版）

ISSN：1674-9847

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