LiDAR-Based High-Precision Mapping and GNSS-Denied Localiztion for UAV

Abstract

This paper mainly studies localization in GNSS-denied environments. The offline mapping is developed by DJI M300 RTK equipped with a lidar, which is the first work of this paper. Besides, in the process of offline mapping, this paper also proposes a matching method that uses multi-frame fusion to form MetaScan as the matching source instead of a single frame. The second work is to realize localization of the UAV in GNSS-denied environments with help of the offline map before. The experimental results show that the methods can effectively improve the navigation and localization ability of UAVs.