Abstract
Aiming at the low accuracy of GNSS/INS integrated navigation caused by the outdoor road environment without GNSS signal or poor GNSS signal, this thesis proposes to combine slam technology with on-board laser scanning system, which can still maintain good robustness in the weak GNSS area. By coupling slam and IMU through the factor graph optimization algorithm, it can improve the mapping results affected by the high speed in the on-board laser scanning system. this thesis uses the system calibration to improve the lio-sam algorithm.Based on the factor graph optimization algorithm, the multi line laser is added to the vehicle lidar scanning system to solve the long-distance and high-precision positioning and attitude determination in the case of weak GNSS signal. The feasibility and effectiveness are verified by the specific application in the field.
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