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In modern navigation and positioning technology, how to improve the anti-interference and accuracy of navigation and positioning under the conditions of low-cost satellite receivers and inertial measurement units (IMUs) has always been an important research topic. This article proposes an innovative integrated navigation method that significantly improves the robustness and accuracy of positioning by integrating Global Navigation Satellite Systems (GNSS), IMU, and LiDAR.
In complex environments such as high-rise buildings, satellite signals are easily interfered with or even lost, leading to a significant decrease in the accuracy of traditional satellite positioning methods. Although the combination of GNSS and IMU can improve the robustness of navigation positioning to a certain extent, the GNSS/IMU combination positioning accuracy under low-cost conditions is still unsatisfactory when the satellite signal is missing for a long time.
To address this issue, this paper proposes a method of integrating the position information output by LiDAR odometry with traditional integrated navigation through Extended Kalman Filter (EKF) for localization. By introducing LiDAR, not only has the positioning accuracy been improved in accessible environments, but significant results have also been achieved in obstructed environments.
The experimental results show that in an accessible environment, the standard deviation (STD) accuracy of fusion positioning is improved by 53.7% compared to satellite positioning alone, and the root mean square error (RMSE) accuracy is improved by 56%. Compared to GNSS/IMU combined positioning, STD accuracy improved by 37.9% and RMSE accuracy improved by 38.6%.
In obstructed environments, the STD accuracy of fused positioning improved by 59.4% compared to satellite positioning alone, and the RMSE accuracy improved by 71.3%. Compared to GNSS/IMU combined positioning, STD accuracy improved by 26.3% and RMSE accuracy improved by 33.7%.
This fusion positioning method has shown great potential in various application scenarios. Complex environments and signal interference have always been major challenges in fields such as urban navigation, autonomous driving, precision agriculture, and robot positioning. By integrating the advantages of GNSS, IMU, and LiDAR sensors, the anti-interference ability and accuracy of positioning can be significantly improved at low cost, meeting the demand for high-precision positioning.
For example, in autonomous vehicles, a reliable high-precision positioning system is key to ensuring safety and precise navigation. The fusion method proposed in this article can effectively address the occlusion of high-rise buildings and complex road conditions in cities, providing more stable and accurate location information.
This article proposes an innovative integrated navigation method by integrating GNSS, IMU, and LiDAR sensors, which significantly improves the positioning anti-interference and accuracy under low-cost conditions. The experimental results show that this method has achieved significant results in both unobstructed and obstructed environments, demonstrating broad application prospects. In the future, with the continuous development of technology, this fusion positioning method is expected to be applied in more fields, promoting navigation and positioning technology to a new level.
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