Experimental Integrity Evaluation of Tightly-Integrated IMU/LiDAR Including Return-Light Intensity Data

Ali Hassani, Nicholas Morris, Matthew Spenko, Mathieu Joerger

Peer Reviewed

Abstract:	This paper describes the design, analysis, and experimental evaluation of a new method to integrate measurements from light detection and ranging (LiDAR) and inertial measurement units (IMU). A tight IMU/LiDAR integration scheme is developed, which aims at exploiting the complementary properties of the two sensors while facilitating safety risk evaluation. In particular, the IMU is used to improve LiDAR position and orientation prediction (or pose), thereby reducing the the risk of incorrectly associating sensed features with mapped landmarks. Conversely, LiDAR pose estimation updates can limit the drift of IMU errors over time. In order to further improve data association, LiDAR return-light intensity measurements are incorporated, which helps distinguish landmarks and thus reduces the risk of incorrect associations. The new method is evaluated and analyzed using experimental data.
Published in:	Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019) September 16 - 20, 2019 Hyatt Regency Miami Miami, Florida
Pages:	2637 - 2658
Cite this article:	Hassani, Ali, Morris, Nicholas, Spenko, Matthew, Joerger, Mathieu, "Experimental Integrity Evaluation of Tightly-Integrated IMU/LiDAR Including Return-Light Intensity Data," Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019), Miami, Florida, September 2019, pp. 2637-2658. https://doi.org/10.33012/2019.17095
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