LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Sim...

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Bibliographic Details
Main Authors: Jian Tang, Yuwei Chen, Xiaoji Niu, Li Wang, Liang Chen, Jingbin Liu, Chuang Shi, Juha Hyyppä
Format: Article
Language:English
Published: MDPI AG 2015-07-01
Series:Sensors
Subjects:
LiDAR
scan matching
INS
EKF
inertial navigation
Online Access:http://www.mdpi.com/1424-8220/15/7/16710

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