Performance of LiDAR-SLAM-based PNT with initial poses based on NDT scan matching algorithm
作者机构：Department of GeomaticsTaiwan Cheng Kung UniversityNo.1Daxue Rd.East Dist.Tainan City 701TaiwanChina High Defnition Map Research CenterDepartment of GeomaticsTaiwan Cheng Kung UniversityNo.1DaxueRd.East Dist.Tainan City 701TaiwanChina
出 版 物：《Satellite Navigation》 (卫星导航（英文）)
年 卷 期：2023年第4卷第1期
页 面：113-127,I0004页
核心收录：
学科分类：08[工学] 081601[工学-大地测量学与测量工程] 0816[工学-测绘科学与技术]
基 金：the fnancial support provided by the MOST Taiwan with the project no.109-2121-M-006-011-MY3
主 题：3D NDT FDE INS/GNSS LiDAR PNT SLAM
摘 要：To achieve higher automation level of vehicles defned by the Society of Automotive Engineers,safety is a key requirement afecting navigation *** apply Light Detection and Ranging(LiDAR)as a main auxiliary sensor and propose LiDAR-based Simultaneously Localization and Mapping(SLAM)approach for Positioning,Navigation,and ***,point cloud registration is handled with 3D Normal Distribution Transform(NDT)*** initial guess of the LiDAR pose for LiDAR-based SLAM comes from two sources:one is the diferential Global Navigation Satellite System(GNSS)solution;the other is Inertial Navigation System(INS)and GNSS integrated solution,generated with Extended Kalman Filter and motion constraints added,including Zero Velocity Update and Non-Holonomic *** experiment compares two initial guesses for scan matching in terms navigation *** emphasize the importance of a multi-sensor scheme in contrast to the conventional navigation method using the stand-alone system,the tests are conducted in both open sky area and GNSS signal block area,the latter might cause Multipath and Non-Line-Of-Sight *** enhance the navigation accuracy,the Fault Detection and Exclusion(FDE)mechanism is applied to correct the navigation *** results show that the application of NDT and FDE for INS/GNSS integrated system can not only reach where-in-lane level navigation accuracy(0.5 m),but also enable constructing the dynamic map.
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