Continuous GNSS-RTK Aided by LiDAR/Inertial Odometry with Intelligent GNSS Selection in Urban Canyons

Zhang, Jiachen; Wen, Weisong; Huang, Feng; Chen, Xiao; Hsu, Li‐Ta

doi:10.33012/2021.18089

Cited by 6 publications

(1 citation statement)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This is the more so as high-precision GNSS positioning requires the utilization of multi-frequency carrier phase signals transmitted by a modest number of visible satellites, a condition that is challenging to be met in urban areas [5]. In contrast, lidar is not subject to the aforementioned error sources, providing abundant measurements in cities due to the existence of rich geometric features, yet it only offers locally referenced positioning solutions [6]. In this contribution, we therefore aim to exploit the complimentary advantages of GNSS and lidar for urban positioning with a particular focus on the ultra-precise carrier phase measurements.…”

Section: Introductionmentioning

confidence: 99%

Centimeter-level Positioning by Instantaneous Lidar-aided GNSS Ambiguity Resolution

Zhang,

Khodabandeh,

Khoshelham

2022

Preprint

View full text Add to dashboard Cite

High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter-to centimeter-level positioning, provided that the integer ambiguities are correctly resolved. Abundant code measurements are often used to facilitate integer ambiguity resolution (IAR), however, they suffer from signal blockage and multipath in urban canyons. In this contribution, a lidar-aided instantaneous ambiguity resolution method is proposed. Lidar measurements, in the form of 3D keypoints, are generated by a learning-based point cloud registration method using a pre-built HD map and integrated with GNSS observations in a mixed measurement model to produce precise float solutions, which in turn increase the ambiguity success rate. Closed-form expressions of the ambiguity variance matrix and the associated Ambiguity Dilution of Precision (ADOP) are developed to provide a priori evaluation of such lidar-aided ambiguity resolution performance. Both analytical and experimental results show that the proposed method enables successful instantaneous IAR with limited GNSS satellites and frequencies, leading to centimeterlevel vehicle positioning.

show abstract

Section: Introductionmentioning

confidence: 99%

Centimeter-level Positioning by Instantaneous Lidar-aided GNSS Ambiguity Resolution

Zhang,

Khodabandeh,

Khoshelham

2022

Preprint

View full text Add to dashboard Cite

show abstract

On the role of lidar measurements in speeding up precise point positioning convergence

2023

View full text Add to dashboard Cite

Global navigation satellite system (GNSS) and light detection and ranging (lidar) are well known to be complementary for vehicle positioning in urban canyons, where GNSS observations are prone to signal blockage and multi-path. As one of the most common carrier-phase-based precise positioning techniques, precise point positioning (PPP) enables single-receiver positioning as it utilizes state-space representation corrections for satellite orbits and clocks and does not require a nearby reference station. Yet PPP suffers from a long positioning convergence time. In this contribution, we propose to reduce the PPP convergence using an observation-level integration of GNSS and lidar. Lidar measurements, in the form of 3D keypoints, are generated by registering online scans to a pre-built high-definition map through deep learning and are then combined with dual-frequency PPP (DF-PPP) observations in an extended Kalman filter implementing the constant-velocity model that captures the vehicle dynamics. We realize real-time PPP (RT-PPP) in this integration using the IGS real-time service products for vehicle positioning. Comprehensive analyses are provided to evaluate different combinations of measurements and PPP corrections in both static and simulated kinematic modes using data captured by multiple receivers. Experimental results show that the integration achieves cm-level accuracy and instantaneous convergence by using redundant measurements. Accordingly, for classical PPP accuracy of 10 cm and convergence within minutes, respectively, lidar input is only required once every 10 s.

show abstract

GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-Free State Estimation of Intelligent Vehicles in Urban Areas

Liu,

Wen,

Hsu

2024

IEEE Trans. Intell. Veh.

View full text Add to dashboard Cite

Continuous GNSS-RTK Aided by LiDAR/Inertial Odometry with Intelligent GNSS Selection in Urban Canyons

Cited by 6 publications

References 18 publications

Centimeter-level Positioning by Instantaneous Lidar-aided GNSS Ambiguity Resolution

Centimeter-level Positioning by Instantaneous Lidar-aided GNSS Ambiguity Resolution

On the role of lidar measurements in speeding up precise point positioning convergence

GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-Free State Estimation of Intelligent Vehicles in Urban Areas

Contact Info

Product

Resources

About