INS/GPS/LiDAR Integrated Navigation System for Urban and Indoor Environments Using Hybrid Scan Matching Algorithm

Abstract

This paper takes advantage of the complementary characteristics of Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) to provide periodic corrections to Inertial Navigation System (INS) alternatively in different environmental conditions. In open sky, where GPS signals are available and LiDAR measurements are sparse, GPS is integrated with INS. Meanwhile, in confined outdoor environments and indoors, where GPS is unreliable or unavailable and LiDAR measurements are rich, LiDAR replaces GPS to integrate with INS. This paper also proposes an innovative hybrid scan matching algorithm that combines the feature-based scan matching method and Iterative Closest Point (ICP) based scan matching method. The algorithm can work and transit between two modes depending on the number of matched line features over two scans, thus achieving efficiency and robustness concurrently. Two integration schemes of INS and LiDAR with hybrid scan matching algorithm are implemented and compared. Real experiments are performed on an Unmanned Ground Vehicle (UGV) for both outdoor and indoor environments. Experimental results show that the multi-sensor integrated system can remain sub-meter navigation accuracy during the whole trajectory.

Robust and Precise Vehicle Localization Based on Multi-Sensor Fusion in Diverse City Scenes

“…A Strap-down Inertial Navigation System (SINS) estimates the position, velocity and attitude by integrating the IMU data. In this paper, we choose east-north-up (ENU) as the navigation reference frame (n), and right-forward-up (RFU) as the body frame (b) [5], and we also use the earth frame (e) and the inertial frame (i) [29]. Primarily, the differential equation [5] [29] [1] in n frame of SINS is well known as:…”

Probabilistic graphical fusion of LiDAR, GPS, and 3D building maps for urban UAV navigation

“…However, GPS/INS is still subject to growing drift and biases in long periods of GPS outages or degraded GPS. Environment observing sensors such as the LiDAR sensor have been used to generate odometry measurements by measuring changes in the observed environment. Dill et al have shown that integrating LiDAR with INS is able to obtain global anchor navigation solutions to meter‐accuracy when GPS is available .…”

“…By incorporating GPS, the positions and maps generated by the SLAM algorithms are anchored to the global frame . Gao et al implemented fusion of INS/GPS/LiDAR measurements for urban and indoor navigation using a hybrid scan matching algorithm . Shepard et al implemented a navigation system combining Parallel Tracking and Mapping (PTAM) processed camera measurements with carrier‐phase differential GPS …”

Research on the Development of Intelligent Management System for Urban Underground Corridor Based on Cloud Computing

“…On the one hand, the integrated corridor is built underground, with only a small number of feeding ports, personnel entrances and exits [1]. In the actual operation process, it may cause a blind spot, or even form a blind zone, becoming an accident-prone zone.…”