Abstract
This paper takes advantage of the complementary characteristics of Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) to provide periodic corrections to Inertial Navigation System (INS) alternatively in different environmental conditions. In open sky, where GPS signals are available and LiDAR measurements are sparse, GPS is integrated with INS. Meanwhile, in confined outdoor environments and indoors, where GPS is unreliable or unavailable and LiDAR measurements are rich, LiDAR replaces GPS to integrate with INS. This paper also proposes an innovative hybrid scan matching algorithm that combines the feature-based scan matching method and Iterative Closest Point (ICP) based scan matching method. The algorithm can work and transit between two modes depending on the number of matched line features over two scans, thus achieving efficiency and robustness concurrently. Two integration schemes of INS and LiDAR with hybrid scan matching algorithm are implemented and compared. Real experiments are performed on an Unmanned Ground Vehicle (UGV) for both outdoor and indoor environments. Experimental results show that the multi-sensor integrated system can remain sub-meter navigation accuracy during the whole trajectory.
Highlights
Navigation can be concluded to solve the problem of determining the time varying position and attitude of a moving object based on the equipped proprioceptive sensorsand exteroceptive sensors
● Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) are used as aiding systems to alternatively provide periodic corrections to Inertial Navigation System (INS) in different environments
LiDAR replaces GPS to integrate with INS/odometer/barometer in the ramps part and indoor environments
Summary
Navigation can be concluded to solve the problem of determining the time varying position and attitude of a moving object based on the equipped proprioceptive sensors (inertial sensors, odometer, etc.). GPS is susceptible to signal jamming and outage in challenging environments like urban and indoor areas, where satellite signals are unreliable or unavailable. Both relative positioning and absolute positioning possess advantages and disadvantages, which makes the standalone positioning technique fail to achieve sustainable accuracy. Urban and indoor environments still remain as challenges due to the unreliability and unavailability of GPS Another technique that is commonly used in positioning and mapping applications is Light Detection and Ranging (LiDAR). Integrating GPS and LiDAR with INS can provide continuous corrections to INS In this paper, this multi-sensor navigation system for both outdoor and indoor environments is introduced.
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