RTK-LIO: Tightly Coupled RTK/LiDAR/Inertial Navigation System Based on Optimization Approach

IF 4.3 2区综合性期刊 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Sensors Journal Pub Date : 2025-06-03 DOI:10.1109/JSEN.2025.3574472

Rongtian Wang;Yuqi Zhang;Tao Li;Chao Wang;Qi Wu;Ling Pei;Wen-An Zhang

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引用次数: 0

Abstract

Global navigation satellite system real-time kinematic (GNSS-RTK) serves as a vital tool for providing absolute positioning for autonomous systems. However, its performance suffers considerable degradation in urban canyon environments due to the well-known challenges caused by multipath effects and non-line-of-sight (NLOS). Light detection and ranging (LiDAR)/inertial odometry (LIO) offers high-precision local pose estimation in structured urban settings, but it tends to accumulate drift over time. Recognizing their complementary strengths, this article proposes an adaptive integration of GNSS-RTK with LIO to achieve continuous and precise global positioning for autonomous systems in urban environments. The raw data are modeled and optimized within the framework of a factor graph. At the same time, double-difference (DD) carrier phase and ambiguity are added to the estimated states. Finally, RTK-LIO is evaluated on public datasets. It greatly exceeds the benchmarks [LiDAR-inertial-GNSS odometry (LIGO), GNSS/LiDAR/IMU odometry (GLIO), and real-time kinematic positioning (RTK)] in both accuracy and smoothness. To benefit the community, the implementation is open-sourced at http://gitee.com/bryantaoli/rtk-lio

查看原文本刊更多论文

RTK- lio：基于优化方法的RTK/LiDAR/惯性导航紧密耦合系统

全球卫星导航系统实时运动学（GNSS-RTK）是为自主系统提供绝对定位的重要工具。然而，由于众所周知的多径效应和非视距（NLOS）带来的挑战，其性能在城市峡谷环境中会受到相当大的影响。光探测和测距(LiDAR)/惯性里程计（LIO）在结构化的城市环境中提供高精度的局部姿态估计，但随着时间的推移，它往往会累积漂移。认识到两者的互补优势，本文提出了GNSS-RTK与LIO的自适应集成，以实现城市环境中自主系统的连续精确全球定位。在因子图框架内对原始数据进行建模和优化。同时，在估计状态中加入双差载波相位和模糊性。最后，在公共数据集上对RTK-LIO进行了评估。它在精度和平滑度上大大超过了基准[LiDAR-inertial-GNSS odometry (LIGO), GNSS/LiDAR/IMU odometry （GLIO）和实时运动学定位（RTK）]。为了使社区受益，该实现在http://gitee.com/bryantaoli/rtk-lio上开源

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Sensors Journal 工程技术-工程：电子与电气

CiteScore

7.70

自引率

14.00%

发文量

2058

审稿时长

5.2 months

期刊介绍： The fields of interest of the IEEE Sensors Journal are the theory, design , fabrication, manufacturing and applications of devices for sensing and transducing physical, chemical and biological phenomena, with emphasis on the electronics and physics aspect of sensors and integrated sensors-actuators. IEEE Sensors Journal deals with the following: -Sensor Phenomenology, Modelling, and Evaluation -Sensor Materials, Processing, and Fabrication -Chemical and Gas Sensors -Microfluidics and Biosensors -Optical Sensors -Physical Sensors: Temperature, Mechanical, Magnetic, and others -Acoustic and Ultrasonic Sensors -Sensor Packaging -Sensor Networks -Sensor Applications -Sensor Systems: Signals, Processing, and Interfaces -Actuators and Sensor Power Systems -Sensor Signal Processing for high precision and stability (amplification, filtering, linearization, modulation/demodulation) and under harsh conditions (EMC, radiation, humidity, temperature); energy consumption/harvesting -Sensor Data Processing (soft computing with sensor data, e.g., pattern recognition, machine learning, evolutionary computation; sensor data fusion, processing of wave e.g., electromagnetic and acoustic; and non-wave, e.g., chemical, gravity, particle, thermal, radiative and non-radiative sensor data, detection, estimation and classification based on sensor data) -Sensors in Industrial Practice