Integration of indoor and outdoor positioning in a three-dimension scene based on LIDAR and GPS signal

Abstract

With the increasing development of outdoor positioning technology and the improvement of precision of GPS and BDS (BeiDou Navigation Satellite System), the integration of indoor and outdoor positioning method has become a problem urgently needed to be addressed. This paper proposes a method of the integration of indoor and outdoor positioning in a 3D scene based on LIDAR and GPS signal. On the basis of the existing indoor positioning method, the GPS positioning results are introduced into the indoor system. The point cloud data of the indoor scene is acquired by the high-precision LIDAR. Finally, a high-precision interior 3D model with geodetic coordinates using optimized coordinate transformation model is established. As a result, the precision of indoor locating is improved and the integration of indoor-outdoor position is realized. The visualization of the indoor scene, which is real and measurable, creates a connection tie between the heterogeneous sources and the spacial positions. Hence, a spacial information management system that can be browsed, measured and traced is established. As a result, the indoor positioning accuracy is constrained within decimeter level, which is acceptable and feasible.