P3-LINS: Tightly Coupled PPP-GNSS/INS/LiDAR Navigation System With Effective Initialization

Abstract

P <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -LINS, a navigation system tightly coupling PPP-GNSS/INS/LiDAR with the DRANSAC-RAIM and the DICP as its initialization procedure, is established for accurate and reliable positioning in urban environments. The position initialization of P <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -LINS is completed by the static PPP with the DRANSAC-RAIM algorithm. The yaw is initialized through the proposed DICP algorithm which relies on the quadratic constraint least-squares problem built by Doppler speed, LiDAR-SLAM poses, and GNSS positions. After dealing with the initialization issue, the fusion framework of P <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -LINS is constructed to handle the heterogeneous sensor data spatial-temporal consistency problem with the three phases EKF-based estimator. The experiments show the initialization of P <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -LINS achieves decimeter-level positioning error in minutes when keeping static and tenths of a degree level yaw error after the vehicle moves a few seconds on the UrbanLoco. Moreover, P <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> -LINS outperforms the compared state-of-the-art methods in terms of positioning accuracy and reliability on both public datasets and self-collected datasets.