Indoor INS/LiDAR-Based Robot Localization With Improved Robustness Using Cascaded FIR Filter
In this paper, an indoor inertial navigation system (INS) integrated with light detection and ranging (LiDAR) robot localization system is proposed to provide accurate information about the robot location. To achieve high accuracy and robustness, a cascaded finite-impulse response (FIR) filter is de...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8662661/ |
| _version_ | 1818353503389614080 |
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| author | Yuan Xu Yuriy S. Shmaliy Yueyang Li Xiyuan Chen Hang Guo |
| author_facet | Yuan Xu Yuriy S. Shmaliy Yueyang Li Xiyuan Chen Hang Guo |
| author_sort | Yuan Xu |
| collection | DOAJ |
| description | In this paper, an indoor inertial navigation system (INS) integrated with light detection and ranging (LiDAR) robot localization system is proposed to provide accurate information about the robot location. To achieve high accuracy and robustness, a cascaded finite-impulse response (FIR) filter is designed and incorporated into the proposed INS/LiDAR localization scheme. The cascaded scheme employs two FIR filters. An unbiased FIR filter is used to estimate the LiDAR-derived position by fusing distances between a robot and detected corner points. An extended FIR filter is used to fuse the LiDAR- and INS-based measurements. An experimental study indicates that the proposed scheme demonstrates higher robustness than the traditional methods of localization employing Kalman filtering. |
| first_indexed | 2024-12-13T19:10:34Z |
| format | Article |
| id | doaj.art-8e0f8d52295d4d27be1662c6f1bb557d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-13T19:10:34Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-8e0f8d52295d4d27be1662c6f1bb557d2022-12-21T23:34:26ZengIEEEIEEE Access2169-35362019-01-017341893419710.1109/ACCESS.2019.29034358662661Indoor INS/LiDAR-Based Robot Localization With Improved Robustness Using Cascaded FIR FilterYuan Xu0https://orcid.org/0000-0002-5966-945XYuriy S. Shmaliy1https://orcid.org/0000-0001-6848-453XYueyang Li2https://orcid.org/0000-0002-1614-0302Xiyuan Chen3https://orcid.org/0000-0002-1770-8529Hang Guo4https://orcid.org/0000-0002-5444-0285School of Electrical Engineering, University of Jinan, Jinan, ChinaDepartment of Electronics Engineering, Universidad de Guanajuato, Salamanca, MexicoSchool of Electrical Engineering, University of Jinan, Jinan, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing, ChinaAcademy of Space Technology, Nanchang University, Nanchang, ChinaIn this paper, an indoor inertial navigation system (INS) integrated with light detection and ranging (LiDAR) robot localization system is proposed to provide accurate information about the robot location. To achieve high accuracy and robustness, a cascaded finite-impulse response (FIR) filter is designed and incorporated into the proposed INS/LiDAR localization scheme. The cascaded scheme employs two FIR filters. An unbiased FIR filter is used to estimate the LiDAR-derived position by fusing distances between a robot and detected corner points. An extended FIR filter is used to fuse the LiDAR- and INS-based measurements. An experimental study indicates that the proposed scheme demonstrates higher robustness than the traditional methods of localization employing Kalman filtering.https://ieeexplore.ieee.org/document/8662661/Indoor localizationinertial navigation systemlight detection and rangingFIR filteringKalman filtering |
| spellingShingle | Yuan Xu Yuriy S. Shmaliy Yueyang Li Xiyuan Chen Hang Guo Indoor INS/LiDAR-Based Robot Localization With Improved Robustness Using Cascaded FIR Filter IEEE Access Indoor localization inertial navigation system light detection and ranging FIR filtering Kalman filtering |
| title | Indoor INS/LiDAR-Based Robot Localization With Improved Robustness Using Cascaded FIR Filter |
| title_full | Indoor INS/LiDAR-Based Robot Localization With Improved Robustness Using Cascaded FIR Filter |
| title_fullStr | Indoor INS/LiDAR-Based Robot Localization With Improved Robustness Using Cascaded FIR Filter |
| title_full_unstemmed | Indoor INS/LiDAR-Based Robot Localization With Improved Robustness Using Cascaded FIR Filter |
| title_short | Indoor INS/LiDAR-Based Robot Localization With Improved Robustness Using Cascaded FIR Filter |
| title_sort | indoor ins lidar based robot localization with improved robustness using cascaded fir filter |
| topic | Indoor localization inertial navigation system light detection and ranging FIR filtering Kalman filtering |
| url | https://ieeexplore.ieee.org/document/8662661/ |
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