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Authors:
Sanchez-Morales, Daniela; Bochkati, Mohamed; Schütz, Andreas; Zhao, Shan; Pany, Thomas 
Document type:
Konferenzbeitrag / Conference Paper 
Title:
3D LiDAR-IMU Integration for State Estimation and Verification Using a GNSS/INS/LiDAR Simulation Chain 
Title of conference publication:
Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) 
Organizer (entity):
Institute of Navigation 
Conference title:
ION GNSS+ (34., 2021, St. Louis, Mo.) 
Venue:
St. Louis, Mo. 
Year of conference:
2021 
Date of conference beginning:
21.09.2021 
Date of conference ending:
24.09.2021 
Year:
2021 
Language:
Englisch 
Keywords:
Multisensor integrated navigation system ; GNSS denied environments ; 3D LiDAR-IMU integration ; Multisensor simulation tool chain 
Abstract:
Multi-sensor fusion is an inevitable part when designing an autonomous vehicle. The integration of measurements coming from different sensors has the advantage that the navigation system is more likely to provide a solution in a more varied range of scenarios. Due to the nature of the measurement principle of each sensor, the error dynamics are completely different and the strengths of a certain sensor compensate for the weaknesses of another. Nevertheless, in order to design and tune our naviga...    »
 
Department:
Fakultät für Luft- und Raumfahrttechnik 
Institute:
LRT 9 - Institut für Raumfahrttechnik und Weltraumnutzung 
Chair:
Pany, Thomas 
Research Hub UniBw M:
SPACE 
Open Access yes or no?:
Nein / No 
Miscellaneous:
Voraufnahme - Noch nicht erschienen