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Consumer grade IMUs drift into unacceptable garbage in about two minutes of flight without GPS corrections[0]. You would need visual odometry to work in GNSS-denied environments

[0] https://discuss.ardupilot.org/t/indoor-mission-plan-no-gps/7...




And visual assistance has been well supported in most commercial drones for years.


2 minutes is a pretty long time for a lot of use cases.




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