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

Article, Other literature type English OPEN
Tang, Jian ; Chen, Yuwei ; Niu, Xiaoji ; Wang, Li ; Chen, Liang ; Liu, Jingbin ; Shi, Chuang ; Hyyppä, Juha (2015)
  • Publisher: MDPI
  • Journal: Sensors (Basel, Switzerland), volume 15, issue 7, pages 16,710-16,728 (issn: 1424-8220, eissn: 1424-8220)
  • Related identifiers: pmc: PMC4541902, doi: 10.3390/s150716710
  • Subject: inertial navigation | EKF | scan matching | TP1-1185 | Chemical technology | LiDAR | Article | INS

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-bas... View more
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