TY  - JOUR
A1  - Li, Ningbo
A1  - Guan, Lianwu
A1  - Gao, Yanbin
A1  - Du, Shitong
A1  - Wu, Menghao
A1  - Guang, Xingxing
A1  - Cong, Xiaodan
T1  - Indoor and outdoor low-cost seamless integrated navigation system based on the integration of INS/GNSS/LIDAR system
JF  - Remote Sensing
N2  - Global Navigation Satellite System (GNSS) provides accurate positioning data for vehicular navigation in open outdoor environment. In an indoor environment, Light Detection and Ranging (LIDAR) Simultaneous Localization and Mapping (SLAM) establishes a two-dimensional map and provides positioning data. However, LIDAR can only provide relative positioning data and it cannot directly provide the latitude and longitude of the current position. As a consequence, GNSS/Inertial Navigation System (INS) integrated navigation could be employed in outdoors, while the indoors part makes use of INS/LIDAR integrated navigation and the corresponding switching navigation will make the indoor and outdoor positioning consistent. In addition, when the vehicle enters the garage, the GNSS signal will be blurred for a while and then disappeared. Ambiguous GNSS satellite signals will lead to the continuous distortion or overall drift of the positioning trajectory in the indoor condition. Therefore, an INS/LIDAR seamless integrated navigation algorithm and a switching algorithm based on vehicle navigation system are designed. According to the experimental data, the positioning accuracy of the INS/LIDAR navigation algorithm in the simulated environmental experiment is 50% higher than that of the Dead Reckoning (DR) algorithm. Besides, the switching algorithm developed based on the INS/LIDAR integrated navigation algorithm can achieve 80% success rate in navigation mode switching.
KW  - vehicular navigation
KW  - GNSS/INS integrated navigation
KW  - INS/LIDAR integrated navigation
KW  - switching navigation
Y1  - 2020
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-216229
SN  - 2072-4292
VL  - 12
IS  - 19
ER  -