xVIO is a range-visual-inertial odometry algorithm implemented at JPL. It has been demonstrated with closed-loop controls on-board unmanned rotorcraft equipped with off-the-shelf embedded computers and sensors. It can operate at daytime with visible-spectrum cameras, or at night time using thermal infrared cameras. This report is a complete technical description of xVIO. It includes an overview of the system architecture, the implementation of the navigation filter, along with the derivations of the Jacobian matrices which are not already published in the literature.

翻译：XVIO是一种在JPL实施的测距、视觉和神经测量算法,在装有现成的嵌入计算机和传感器的机载无人驾驶转筒上进行了闭环控制,可以在白天使用可见光谱照相机操作,或在夜间使用热红外摄像头操作,本报告是XVIO的完整技术说明,包括系统结构概览、导航过滤器的实施以及尚未在文献中公布的Jacobian矩阵的衍生物。