Robust Positioning Method for Berthing Support Using Fusion of Tightly Coupled GNSS Carrier Phase with IMU and Visual Odometry.

Hiraku Nakamura, Tatsuya Sonobe, Hiroyuki Toda, Naomi Fujisawa, Takafumi Taketomi, Alexander Plopski, Christian Sandor, Hirokazu Kato

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Journal of the Institute of Positioning, Navigation and Timing of Japan