2020
DOI: 10.3390/s20174702
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Abstract: In this paper, we proposed a multi-sensor integrated navigation system composed of GNSS (global navigation satellite system), IMU (inertial measurement unit), odometer (ODO), and LiDAR (light detection and ranging)-SLAM (simultaneous localization and mapping). The dead reckoning results were obtained using IMU/ODO in the front-end. The graph optimization was used to fuse the GNSS position, IMU/ODO pre-integration results, and the relative position and relative attitude from LiDAR-SLAM to obtain the final navig… Show more

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Cited by 49 publications
(31 citation statements)
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“…In the training stage of the pole candidate classifications, each frame of the point cloud was accumulated by the pose obtained from the front end of Chang et al [ 47 ]; then, the ground was removed, and points were clustered by the method in Section 2.2 . Finally, the samples were generated by manual labeling.…”
Section: Resultsmentioning
confidence: 99%
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“…In the training stage of the pole candidate classifications, each frame of the point cloud was accumulated by the pose obtained from the front end of Chang et al [ 47 ]; then, the ground was removed, and points were clustered by the method in Section 2.2 . Finally, the samples were generated by manual labeling.…”
Section: Resultsmentioning
confidence: 99%
“…In this paper, the IMU preintegration, GNSS position and relative transformation between the LiDAR nodes and submaps are used as constrains to establish the pose graph for pose optimization in the back end (Chang et al [ 47 , 48 ]). The variable that is going to be optimized can be written as , where is composed of the position, velocity, attitude, accelerometer bias and gyroscope bias of the IMU at time .…”
Section: Methodsmentioning
confidence: 99%
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“…Satellite positioning plays an important role in modern navigation systems. Among the existing advanced navigation sensors, only satellite navigation can provide a ship’s absolute position relative to the geocentric coordinate system [ 1 ]. When navigating, the marine satellite navigation receiver has an open environment and access to several visible satellites when located in the middle and at low latitudes, resulting in better position accuracy.…”
Section: Introductionmentioning
confidence: 99%