GIL: a tightly coupled GNSS PPP/INS/LiDAR method for precise vehicle navigation

GIL: a tightly coupled GNSS PPP/INS/LiDAR method for precise vehicle navigation

Blog Article

Abstract Accurate positioning and navigation play a vital role in vehicle-related applications, such as autonomous driving and precision agriculture.With the rapid development of Global Navigation Satellite Systems (GNSS), Precise Point Positioning (PPP) technique, as a global positioning solution, has been widely applied due to its convenient operation.Nevertheless, the performance of PPP is severely affected by signal interference, especially in GNSS-challenged environments.Inertial Navigation System (INS) aided GNSS cushcraft ar-10 can significantly improve the continuity and accuracy of navigation in harsh environments, but suffers from degradation during GNSS outages.LiDAR (Laser Imaging, Detection, and Ranging)-Inertial Odometry (LIO), which has performed well in local navigation, can restrain the divergence of Inertial Measurement Units (IMU).

However, in long-range navigation, error accumulation is inevitable if no external aids are applied.To improve vehicle navigation performance, we proposed golden literider gp162 parts a tightly coupled GNSS PPP/INS/LiDAR (GIL) integration method, which tightly integrates the raw measurements from multi-GNSS PPP, Micro-Electro-Mechanical System (MEMS)-IMU, and LiDAR to achieve high-accuracy and reliable navigation in urban environments.Several experiments were conducted to evaluate this method.The results indicate that in comparison with the multi-GNSS PPP/INS tightly coupled solution the positioning Root-Mean-Square Errors (RMSEs) of the proposed GIL method have the improvements of 63.0%, 51.

3%, and 62.2% in east, north, and vertical components, respectively.The GIL method can achieve decimeter-level positioning accuracy in GNSS partly-blocked environment (i.e., the environment with GNSS signals partly-blocked) and meter-level positioning accuracy in GNSS difficult environment (i.

e., the environment with GNSS hardly used).Besides, the accuracy of velocity and attitude estimation can also be enhanced with the GIL method.