基于GNSS/IMU/LIDAR多源信息融合的定位方法研究

2021 3rd International Conference on Intelligent Control, Measurement and Signal Processing and Intelligent Oil Field (ICMSP) Pub Date : 2021-07-23 DOI:10.1109/ICMSP53480.2021.9513226

Tang Jingman, Zhang Yali, Li Anran

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引用次数: 1

摘要

近年来，无人驾驶移动平台在社会各个领域的应用越来越广泛，市场对消费类导航定位系统有着强烈的实际需求。提出了一种基于GNSS/IMU组合导航系统与激光雷达里程计相结合的定位算法。多传感器数据融合采用图优化方法。实验证明了该算法的优良性能。

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Research on Location Method Based on GNSS/IMU/LIDAR Multi-source Information Fusion

In recent years, unmanned mobile platforms have been applied more and more widely in various fields of society, and the market has a strong actual demand for consumer navigation and positioning system. In this paper, a localization algorithm based on GNSS/IMU integrated navigation system combined with Lidar odometer is proposed. Graph optimization is used for multisensor data fusion. Experiments show the excellent performance of the algorithm.

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2021 3rd International Conference on Intelligent Control, Measurement and Signal Processing and Intelligent Oil Field (ICMSP)

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