GPS Deny UAV Needed

We need a drone that flies autonomously completely without GPS. The main application is to inspect the underground pipe network. What do you recommend?

Are you looking to build or buy ?
There are some commercially available vehicles on the market:

https://flybotix.com/Asio-pro.html

Hello, you have these two options too:

https://multinnov.com/roview/

https://multinnov.com/stereo2/

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we want to buy.Elios is ok.thank you.

ok,thanks for your advise.