GNSS-RTK Adaptively Integrated with LiDAR/IMU Odometry for Continuously Global Positioning in Urban Canyons

GNSS-RTK Adaptively Integrated with LiDAR/IMU Odometry for Continuously Global Positioning in Urban Canyons

Global Navigation Satellite System Real-time Kinematic (GNSS-RTK) is an indispensable source for the absolute positioning of autonomous systems. Unfortunately, the performance of the GNSS-RTK is significantly degraded in urban canyons, due to the notorious multipath and Non-Line-of-Sight (NLOS). On...

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Bibliographic Details
Main Authors: Jiachen Zhang, Weisong Wen, Feng Huang, Yongliang Wang, Xiaodong Chen, Li-Ta Hsu
Format: Article
Language:English
Published: MDPI AG 2022-05-01
Series:Applied Sciences
Subjects:
adaptive GNSS-RTK/LIO fusion
GNSS-RTK selection
globally urban positioning
factor graph optimization
Online Access:https://www.mdpi.com/2076-3417/12/10/5193

Internet

https://www.mdpi.com/2076-3417/12/10/5193

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