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Document type:
Konferenzbeitrag / Conference Paper
Title:
Precise Positioning Through a Loosely-coupled Sensor Fusion of GNSS-RTK, INS and LiDAR for Autonomous Driving
Title of conference publication:
IEEE/ION Position, Location and Navigation Symposium (PLANS)
Subtitle of conference publication:
September 23-25, 2020 St. Louis, Missouri
Conference title:
IEEE/ION Position, Location and Navigation Symposium (2020, Portland, OR)
Venue:
Portland, OR
Year of conference:
2020
Date of conference beginning:
20.09.2020
Date of conference ending:
23.09.2020
Place of publication:
Piscataway, NJ
Publisher:
IEEE
Year:
2020
Pages from - to:
219-225
Language:
Englisch
Keywords:
sensor fusion ; GNSS/INS/LiDAR integration ; loosely coupled filter ; precise positioning ; autonomous driving
Abstract:
In this paper we describe the integration done
between GNSS-RTK/INS/LiDAR in a loosely coupled Kalman
Filter in the context of autonomous driving applications.
Specifically, we focus in the assessment of potential LiDAR
updates by comparing the velocity profile obtained by the
GNSS/INS integration solution and the LiDAR observations. The
results from a test drive are shown to provide an insight of the
advantages of using the LiDAR updates in GNSS denied
environments.
ISBN:
978-1-7281-0244-3 ; 978-1-7281-9446-2
ISSN:
2153-3598 ; 2153-358X
Department:
Fakultät für Luft- und Raumfahrttechnik
Institute:
LRT 9 - Institut für Raumfahrttechnik und Weltraumnutzung
Chair:
Pany, Thomas
Open Access yes or no?:
Nein / No
Fulltext information:
Fulltext version:
Preprint
Fulltext OA license:
CC BY 3.0 DE
Fulltext OA license URL:
BibTeX