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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