基于平面特征的LIO增强GNSS RTK定位性能研究
Research on plane-feature based LIO enhancing GNSS RTK positioning performance
孙之远 1李星星 1汪世文 1李圣雨1
作者信息
- 1. 武汉大学 测绘学院,武汉 430079
- 折叠
摘要
针对应用单一传感器的智能导航定位技术在城市复杂环境下难以满足准确、无缝和稳定性能要求的问题,提出一种基于平面特征的雷达惯性里程计(LIO)增强全球卫星导航系统(GNSS)实时动态定位技术(RTK)定位性能的方法:通过滑动窗口构建多帧激光雷达(LiDAR)平面特征的关联;并将RTK与LIO在位置域层面直接融合;最后在开阔环境和城市环境中进行实验.结果表明,RTK/惯性导航系统(INS)/LiDAR组合系统能够在GNSS挑战环境中达到分米级精度;同时,在LiDAR平面特征的约束下,该方法速度和姿态的估计性能也可得到改善.
Abstract
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.
关键词
多传感器融合/实时动态差分定位技术(RTK)/激光雷达(LiDAR)/雷达惯性里程计(LIO)/惯性导航系统(INS)Key words
multi-sensor fusion/real-time kinematic(RTK)/light detection and ranging(LiDAR)/LiDAR inertial odometry(LIO)/inertial navigation system(INS)引用本文复制引用
基金项目
国家重点研发计划项目(2021YFB2501102)
出版年
2024
NETL
NSTL
万方数据