Navigation Engine Design for Automated Driving Using INS/GNSS/3D LiDAR-SLAM and Integrity Assessment
Automated driving has made considerable progress recently. The multisensor fusion system is a game changer in making self-driving cars possible. In the near future, multisensor fusion will be necessary to meet the high accuracy needs of automated driving systems. This paper proposes a multisensor fu...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-05-01
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| Series: | Remote Sensing |
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| Online Access: | https://www.mdpi.com/2072-4292/12/10/1564 |
| _version_ | 1797567941865111552 |
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| author | Kai-Wei Chiang Guang-Je Tsai Yu-Hua Li You Li Naser El-Sheimy |
| author_facet | Kai-Wei Chiang Guang-Je Tsai Yu-Hua Li You Li Naser El-Sheimy |
| author_sort | Kai-Wei Chiang |
| collection | DOAJ |
| description | Automated driving has made considerable progress recently. The multisensor fusion system is a game changer in making self-driving cars possible. In the near future, multisensor fusion will be necessary to meet the high accuracy needs of automated driving systems. This paper proposes a multisensor fusion design, including an inertial navigation system (INS), a global navigation satellite system (GNSS), and light detection and ranging (LiDAR), to implement 3D simultaneous localization and mapping (INS/GNSS/3D LiDAR-SLAM). The proposed fusion structure enhances the conventional INS/GNSS/odometer by compensating for individual drawbacks such as INS-drift and error-contaminated GNSS. First, a highly integrated INS-aiding LiDAR-SLAM is presented to improve the performance and increase the robustness to adjust to varied environments using the reliable initial values from the INS. Second, the proposed fault detection exclusion (FDE) contributes SLAM to eliminate the failure solutions such as local solution or the divergence of algorithm. Third, the SLAM position velocity acceleration (PVA) model is used to deal with the high dynamic movement. Finally, an integrity assessment benefits the central fusion filter to avoid failure measurements into the update process based on the information from INS-aiding SLAM, which increases the reliability and accuracy. Consequently, our proposed multisensor design can deal with various situations such as long-term GNSS outage, deep urban areas, and highways. The results show that the proposed method can achieve an accuracy of under 1 meter in challenging scenarios, which has the potential to contribute the autonomous system. |
| first_indexed | 2024-03-10T19:49:17Z |
| format | Article |
| id | doaj.art-18f6a4377f3b45aaa0aaef71c1d3e332 |
| institution | Directory Open Access Journal |
| issn | 2072-4292 |
| language | English |
| last_indexed | 2024-03-10T19:49:17Z |
| publishDate | 2020-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj.art-18f6a4377f3b45aaa0aaef71c1d3e3322023-11-20T00:28:19ZengMDPI AGRemote Sensing2072-42922020-05-011210156410.3390/rs12101564Navigation Engine Design for Automated Driving Using INS/GNSS/3D LiDAR-SLAM and Integrity AssessmentKai-Wei Chiang0Guang-Je Tsai1Yu-Hua Li2You Li3Naser El-Sheimy4Departement of Geomatics Engineering, National Cheng-Kung University, No. 1, Daxue Road, East District, Tainan City 701, TaiwanDepartement of Geomatics Engineering, National Cheng-Kung University, No. 1, Daxue Road, East District, Tainan City 701, TaiwanDepartement of Geomatics Engineering, National Cheng-Kung University, No. 1, Daxue Road, East District, Tainan City 701, TaiwanDepartement of Geomatics Engineering, The University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, CanadaDepartement of Geomatics Engineering, The University of Calgary, 2500 University Dr NW, Calgary, AB T2N 1N4, CanadaAutomated driving has made considerable progress recently. The multisensor fusion system is a game changer in making self-driving cars possible. In the near future, multisensor fusion will be necessary to meet the high accuracy needs of automated driving systems. This paper proposes a multisensor fusion design, including an inertial navigation system (INS), a global navigation satellite system (GNSS), and light detection and ranging (LiDAR), to implement 3D simultaneous localization and mapping (INS/GNSS/3D LiDAR-SLAM). The proposed fusion structure enhances the conventional INS/GNSS/odometer by compensating for individual drawbacks such as INS-drift and error-contaminated GNSS. First, a highly integrated INS-aiding LiDAR-SLAM is presented to improve the performance and increase the robustness to adjust to varied environments using the reliable initial values from the INS. Second, the proposed fault detection exclusion (FDE) contributes SLAM to eliminate the failure solutions such as local solution or the divergence of algorithm. Third, the SLAM position velocity acceleration (PVA) model is used to deal with the high dynamic movement. Finally, an integrity assessment benefits the central fusion filter to avoid failure measurements into the update process based on the information from INS-aiding SLAM, which increases the reliability and accuracy. Consequently, our proposed multisensor design can deal with various situations such as long-term GNSS outage, deep urban areas, and highways. The results show that the proposed method can achieve an accuracy of under 1 meter in challenging scenarios, which has the potential to contribute the autonomous system.https://www.mdpi.com/2072-4292/12/10/1564inertial navigation system and global navigation satellite system (INS/GNSS)light detection and ranging (LiDAR)simultaneous localization and mapping (SLAM) |
| spellingShingle | Kai-Wei Chiang Guang-Je Tsai Yu-Hua Li You Li Naser El-Sheimy Navigation Engine Design for Automated Driving Using INS/GNSS/3D LiDAR-SLAM and Integrity Assessment Remote Sensing inertial navigation system and global navigation satellite system (INS/GNSS) light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM) |
| title | Navigation Engine Design for Automated Driving Using INS/GNSS/3D LiDAR-SLAM and Integrity Assessment |
| title_full | Navigation Engine Design for Automated Driving Using INS/GNSS/3D LiDAR-SLAM and Integrity Assessment |
| title_fullStr | Navigation Engine Design for Automated Driving Using INS/GNSS/3D LiDAR-SLAM and Integrity Assessment |
| title_full_unstemmed | Navigation Engine Design for Automated Driving Using INS/GNSS/3D LiDAR-SLAM and Integrity Assessment |
| title_short | Navigation Engine Design for Automated Driving Using INS/GNSS/3D LiDAR-SLAM and Integrity Assessment |
| title_sort | navigation engine design for automated driving using ins gnss 3d lidar slam and integrity assessment |
| topic | inertial navigation system and global navigation satellite system (INS/GNSS) light detection and ranging (LiDAR) simultaneous localization and mapping (SLAM) |
| url | https://www.mdpi.com/2072-4292/12/10/1564 |
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