LiDAR Data Association Risk Reduction, Using Tight Integration with INS

Ali Hassani, Mathieu Joerger, Guillermo Dueas Arana, and Matthew Spenko

Peer Reviewed

Abstract:	This paper describes the design and analysis of a new method to integrate measurements from light detection and ranging (LiDAR) and inertial navigation systems (INS). The tight integration scheme aims at facilitating safety risk evaluation while exploiting complementary properties of LiDAR and INS. In particular, INS is used to improve LiDAR prediction of position and orientation (or pose), thereby reducing the risk of incorrectly associating scanned features with mapped landmarks. Moreover, LiDAR pose estimation updates can limit the drift of INS errors over time.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	2467 - 2483
Cite this article:	Hassani, Ali, Joerger, Mathieu, Arana, Guillermo Dueas, Spenko, Matthew, "LiDAR Data Association Risk Reduction, Using Tight Integration with INS," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 2467-2483. https://doi.org/10.33012/2018.15976
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