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Fig. 1

The aerial robot equipped with the RRVPE navigation system


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1. Intel RealSense D435i camera: responsible for building real-world 3D voxel map; 2. Intel RealSense T265 camera: responsible for providing binocular video stream and inertial measurement information; 3. U-Blox ZED-F9P receiver: responsible for receiving GNSS pseudorange, Doppler, ephemeris and time pulse information

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