A LiDAR SLAM-Assisted Fusion Positioning Method for USVs

Confronted with unmanned surface vessel (USV) operations where GNSS signals are unavailable due to obscuration and other factors, a LiDAR SLAM-assisted fusion positioning method for USVs is proposed to combine GNSS/INS positioning with LiDAR-SLAM. When the USV works in wide-open water, the carrier p...

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Main Authors: Wei Shen, Zhisong Yang, Chaoyu Yang, Xin Li
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Sensors
Subjects:
Online Access:https://www.mdpi.com/1424-8220/23/3/1558
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author Wei Shen
Zhisong Yang
Chaoyu Yang
Xin Li
author_facet Wei Shen
Zhisong Yang
Chaoyu Yang
Xin Li
author_sort Wei Shen
collection DOAJ
description Confronted with unmanned surface vessel (USV) operations where GNSS signals are unavailable due to obscuration and other factors, a LiDAR SLAM-assisted fusion positioning method for USVs is proposed to combine GNSS/INS positioning with LiDAR-SLAM. When the USV works in wide-open water, the carrier phase differential GNSS/INS loosely coupled integration strategy is applied to fuse and calibrate the positioning data, and the positioning information of the USV is obtained through the coordinate conversion process. The system uses a dynamic switching strategy to enter to LiDAR-SLAM positioning when GNSS signals are not available, compensating the LiDAR data with precise angle information to ensure accurate and stable positioning. The experiments show that compared with the traditional Kalman filter and adaptive Kalman filter fusion algorithms, the positioning error is reduced by 55.4% and 43.5%. The velocity error is also limited by 78.2% and 57.9%. The standard deviation and the root mean square error are stable within 0.1 m, indicating that our method has better data stability, while the probability of positioning anomaly is effectively controlled.
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spelling doaj.art-89b9142bbc534bc487f5d19feb32ea612023-11-16T18:02:49ZengMDPI AGSensors1424-82202023-02-01233155810.3390/s23031558A LiDAR SLAM-Assisted Fusion Positioning Method for USVsWei Shen0Zhisong Yang1Chaoyu Yang2Xin Li3School of Marine Science, Shanghai Ocean University, Shanghai 201306, ChinaSchool of Marine Science, Shanghai Ocean University, Shanghai 201306, ChinaSchool of Marine Science, Shanghai Ocean University, Shanghai 201306, ChinaSchool of Marine Science, Shanghai Ocean University, Shanghai 201306, ChinaConfronted with unmanned surface vessel (USV) operations where GNSS signals are unavailable due to obscuration and other factors, a LiDAR SLAM-assisted fusion positioning method for USVs is proposed to combine GNSS/INS positioning with LiDAR-SLAM. When the USV works in wide-open water, the carrier phase differential GNSS/INS loosely coupled integration strategy is applied to fuse and calibrate the positioning data, and the positioning information of the USV is obtained through the coordinate conversion process. The system uses a dynamic switching strategy to enter to LiDAR-SLAM positioning when GNSS signals are not available, compensating the LiDAR data with precise angle information to ensure accurate and stable positioning. The experiments show that compared with the traditional Kalman filter and adaptive Kalman filter fusion algorithms, the positioning error is reduced by 55.4% and 43.5%. The velocity error is also limited by 78.2% and 57.9%. The standard deviation and the root mean square error are stable within 0.1 m, indicating that our method has better data stability, while the probability of positioning anomaly is effectively controlled.https://www.mdpi.com/1424-8220/23/3/1558fusion positioningunmanned surface vessel (USV)GNSS/INSLiDAR-SLAM
spellingShingle Wei Shen
Zhisong Yang
Chaoyu Yang
Xin Li
A LiDAR SLAM-Assisted Fusion Positioning Method for USVs
Sensors
fusion positioning
unmanned surface vessel (USV)
GNSS/INS
LiDAR-SLAM
title A LiDAR SLAM-Assisted Fusion Positioning Method for USVs
title_full A LiDAR SLAM-Assisted Fusion Positioning Method for USVs
title_fullStr A LiDAR SLAM-Assisted Fusion Positioning Method for USVs
title_full_unstemmed A LiDAR SLAM-Assisted Fusion Positioning Method for USVs
title_short A LiDAR SLAM-Assisted Fusion Positioning Method for USVs
title_sort lidar slam assisted fusion positioning method for usvs
topic fusion positioning
unmanned surface vessel (USV)
GNSS/INS
LiDAR-SLAM
url https://www.mdpi.com/1424-8220/23/3/1558
work_keys_str_mv AT weishen alidarslamassistedfusionpositioningmethodforusvs
AT zhisongyang alidarslamassistedfusionpositioningmethodforusvs
AT chaoyuyang alidarslamassistedfusionpositioningmethodforusvs
AT xinli alidarslamassistedfusionpositioningmethodforusvs
AT weishen lidarslamassistedfusionpositioningmethodforusvs
AT zhisongyang lidarslamassistedfusionpositioningmethodforusvs
AT chaoyuyang lidarslamassistedfusionpositioningmethodforusvs
AT xinli lidarslamassistedfusionpositioningmethodforusvs