Research on plane-feature based LIO enhancing GNSS RTK positioning performance
Aiming at the problem that intelligent navigation and positioning technology using a stand-alone sensor is difficult to meet the requirements of accurate,seamless and stable performance in complex urban environments,the paper proposed a method of plane-feature based light detection and ranging(LiDAR)inertial odometry(LIO)enhancing global navigation satellite system(GNSS)real-time kinematic(RTK)positioning performance:the association of multi-frame LiDAR plane features was constructed through a sliding window;and RTK and LIO were directly fused at the position domain;finally,an experiment was conducted in the open-sky scenario and urban environments,respectively.Result showed that the RTK/INS/LiDAR integration system could achieve decimeter-level accuracy in GNSS-challenging environments;meanwhile,under the constraint of LiDAR plane features,the estimation performance of velocity and attitude of the proposed method would also be improved.
multi-sensor fusionreal-time kinematic(RTK)light detection and ranging(LiDAR)LiDAR inertial odometry(LIO)inertial navigation system(INS)
NETL
NSTL
万方数据
