Before revision:  We extensively evaluate the proposed system on simulation and real-world experiments, and the result demonstrates that our system substantially eliminates the drift of VIO and preserves the  accuracy in spite of noisy GNSS measurements  .
After revision:  We extensively evaluate the proposed system on simulation and real-world experiments, and the result demonstrates that our system substantially eliminates the drift of VIO and preserves the local accuracy in spite of noisy GNSS measurements .