This paper presents a novel approach that integrates 5G Time of Arrival (ToA) measurements into ORB-SLAM3 to enable global localization and enhance mapping capabilities for indoor drone navigation. We extend ORB-SLAM3's optimization pipeline to jointly process ToA data from 5G base stations alongside visual and inertial measurements while estimating system biases. This integration transforms the inherently local SLAM estimates into globally referenced trajectories and effectively resolves scale ambiguity in monocular configurations. Our method is evaluated using both Aerolab indoor datasets with RGB-D cameras and the EuRoC MAV benchmark, complemented by simulated 5G ToA measurements at 28 GHz and 78 GHz frequencies using MATLAB and QuaDRiGa. Extensive experiments across multiple SLAM configurations demonstrate that ToA integration enables consistent global positioning across all modes while maintaining local accuracy. For monocular configurations, ToA integration successfully resolves scale ambiguity and improves consistency. We further investigate scenarios with unknown base station positions and demonstrate that ToA measurements can effectively serve as an alternative to loop closure for drift correction. Comparative analysis with state-of-the-art methods, including UWB-VO, confirms our approach's robustness even with lower measurement frequencies and sequential base station operation. The results validate that 5G ToA integration provides substantial benefits for global SLAM applications, particularly in challenging indoor environments where accurate positioning is critical.

翻译：本文提出一种创新方法，将5G到达时间测量值集成至ORB-SLAM3框架，以实现室内无人机导航的全局定位并增强建图能力。我们扩展了ORB-SLAM3的优化流程，在估计系统偏差的同时，联合处理来自5G基站的ToA数据以及视觉与惯性测量值。该集成方案将固有的局部SLAM估计转换为全局参考轨迹，并有效解决了单目配置中的尺度模糊性问题。我们使用配备RGB-D相机的Aerolab室内数据集和EuRoC MAV基准进行评估，并辅以通过MATLAB与QuaDRiGa在28 GHz和78 GHz频段生成的仿真5G ToA测量数据。在多组SLAM配置下的广泛实验表明，ToA集成能在保持局部精度的同时，实现所有模式下的全局定位一致性。对于单目配置，ToA集成成功解决了尺度模糊问题并提升了轨迹一致性。我们进一步探究了基站位置未知的场景，证明ToA测量可有效替代回环检测进行漂移校正。与UWB-VO等前沿方法的对比分析证实，即使在较低测量频率和基站顺序运行的条件下，本方法仍具有强鲁棒性。实验结果验证了5G ToA集成能为全局SLAM应用带来显著优势，尤其在精准定位至关重要的复杂室内环境中。