Aiming at the problem that outdoor global navigation satellite system(GNSS)is rejected and ultra-wideband(UWB)and LiDAR have poor localization effect in non-line-of-sight and point cloud feature sparse environment,a UWB/LiDAR/inertial measurement unit(IMU)combined localization method for complex environment is proposed.Firstly,a time-varying factor is designed by using the complementary characteristics of LiDAR and UWB for vehicle relocation.Then,three motion model are introduced to describe the motion state of the vehicle,and the filters for each model are designed by using the unscented Kalman filtering method.Finally,the re-localized vehicle position and IMU measurement data are used as state inputs of the interactive multi-model-unscented Kalman filter algorithm to calculate the final vehicle position.The experimental results show that the proposed combined localization method presents high localization accuracy.Compared with single UWB and LiDAR sensor,the localization accuracy is improved by 35.1%and 22.8%in line-of-sight(LOS)scenario,and the corresponding improvement is 53.1%and 27.2%in non-line-of-sight(NLOS)scenario,respectively.Compared with the single UWB and LiDAR sensor,the localization accuracy of the proposed repositioning method in LOS scenario is improved by 23.2%and 8.7%,and the corresponding improvement in NLOS scenario is 42.9%and 11.4%,respectively,demonstrating high localization accuracy and adaptability to complex environments.
维普
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