Precise Positioning Through a Loosely-coupled Sensor Fusion of GNSS-RTK, INS and LiDAR for Autonomous Driving

Andreas Schütz, Daniela E. Sánchez-Morales, and Thomas Pany

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.
Published in: 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
April 20 - 23, 2020
Hilton Portland Downtown
Portland, Oregon
Pages: 219 - 225
Cite this article: Schütz, Andreas, Sánchez-Morales, Daniela E., Pany, Thomas, "Precise Positioning Through a Loosely-coupled Sensor Fusion of GNSS-RTK, INS and LiDAR for Autonomous Driving," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 219-225.
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