Integrity Analysis in 3D LADAR Odometry

Zhen Zhu, Maarten Uijt de Haag

Peer Reviewed

Abstract:	This paper discusses displacement and rotation estimation algorithms using 2D laser scanners and addresses efficient outlier detection and rejection methods for both algorithms to support the laser-based navigation integrity function. The proposed methods have been evaluated using both simulation and field test results with a dual laser range scanner systems. The results show that 2D laser scanners can be used to produce 3D odometry solutions with integrity for an unmanned system in a GPS-denied environment.
Published in:	Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015) September 14 - 18, 2015 Tampa Convention Center Tampa, Florida
Pages:	2319 - 2328
Cite this article:	Zhu, Zhen, de Haag, Maarten Uijt, "Integrity Analysis in 3D LADAR Odometry," Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 2319-2328.
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