LiDAR/RISS/GNSS Dynamic Integration for Land Vehicle Robust Positioning in Challenging GNSS Environments

被引:23
作者
Aboutaleb, Ahmed [1 ]
El-Wakeel, Amr S. [1 ,2 ]
Elghamrawy, Haidy [2 ,3 ]
Noureldin, Aboelmagd [2 ,4 ]
机构
[1] Queens Univ, Dept Elect & Comp Engn, Kingston, ON K7L 3N6, Canada
[2] Royal Mil Coll Canada, Dept Elect & Comp Engn, Kingston, ON K7K 7B4, Canada
[3] Cairo Univ, Dept Engn Math & Phys, Fac Engn, Cairo 12613, Egypt
[4] Queens Univ, Sch Comp, Kingston, ON K7L 2N8, Canada
基金
加拿大自然科学与工程研究理事会;
关键词
LiDAR Odometry; LiDAR; RISS; GNSS integration; Multi-sensor fusion; Autonomous vehicles; Integrated Positioning;
D O I
10.3390/rs12142323
中图分类号
X [环境科学、安全科学];
学科分类号
08 ; 0830 ;
摘要
The autonomous vehicles (AV) industry has a growing demand for reliable, continuous, and accurate positioning information to ensure safe traffic and for other various applications. Global navigation satellite system (GNSS) receivers have been widely used for this purpose. However, GNSS positioning accuracy deteriorates drastically in challenging environments such as urban environments and downtown cores. Therefore, inertial sensors are widely deployed inside the land vehicle for various purposes, including the integration with GNSS receivers to provide positioning information that can bridge potential GNSS failures. However, in dense urban areas and downtown cores where GNSS receivers may incur prolonged outages, the integrated positioning solution may become prone to severe drift resulting in substantial position errors. Therefore, it is becoming necessary to include other sensors and systems that can be available in future land vehicles to be integrated with both the GNSS receivers and inertial sensors to enhance the positioning performance in such challenging environments. This work aims to design and examine the performance of a multi-sensor system that fuses the GNSS receiver data with not only the three-dimensional reduced inertial sensor system (3D-RISS), but also with the three-dimensional point cloud of onboard light detection and ranging (LiDAR) system. In this paper, a comprehensive LiDAR processing and odometry method is developed to provide a continuous and reliable positioning solution. In addition, a multi-sensor Extended Kalman filtering (EKF)-based fusion is developed to integrate the LiDAR positioning information with both GNSS and 3D-RISS and utilize the LiDAR updates to limit the drift in the positioning solution, even in challenging or ultimately denied GNSS environment. The performance of the proposed positioning solution is examined using several road test trajectories in both Kingston and Toronto downtown areas involving different vehicle dynamics and driving scenarios. The proposed solution provided a performance improvement over the standalone inertial solution by 64%. Over a GNSS outage of 10 min and 2 km distance traveled, our solution achieved position errors less than 2% of the distance travelled.
引用
收藏
页数:25
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