GNSS-Independent Navigation Solution Using Integrated LiDAR Data

Sara Susca

Abstract:	Accurate location in GPS denied environments continues to be a key to mission execution by autonomous systems in a GPS driven world. Most autonomous vehicle must navigate virtually anywhere (in caves, indoor, underwater, in urban canyons, etc.) and reduce the danger of human exposure while accomplishing their missions. In this paper we present an integrated navigation system, suitable particularly for urban areas, which includes motion estimation from a LiDAR and fusion of low frequency 3D images with high bandwidth inertial data from a mid performance IMU. We present experimental results which verify our algorithms using a Velodyne LiDAR and a low cost IMU in GPS denied environments. We also show the improvement resulting from the motion estimation using LiDAR on the integrated solution and compare the performance of the integrated solution in GPS denied environments with GPS in nominal environments.
Published in:	Proceedings of the 2010 International Technical Meeting of The Institute of Navigation January 25 - 27, 2010 Catamaran Resort Hotel San Diego, CA
Pages:	205 - 213
Cite this article:	Susca, Sara, "GNSS-Independent Navigation Solution Using Integrated LiDAR Data," Proceedings of the 2010 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2010, pp. 205-213.
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