基于LiDAR辅助的GNSS/INS组合导航设计  

Design of a LiDAR-aided GNSS/INS integrated navigation system

作　　者：申建华[1] 谭志强 杨思佳 SHEN Jianhua;TAN Zhiqiang;YANG Sijia(The 54th Research Institute of China Electronics Technology Group Corporation,Shijiazhuang,Hebei 050081,China;State Key Laboratory of Complex Electromagnetic Environment Effects on Electronics and Information System,Luoyang,Henan 471001,China;Beijing Satellite Navigation Center,Beijing 100094,China)

机构地区：[1]中国电子科技集团公司第五十四研究所,河北石家庄050081 [2]电子信息系统复杂电磁环境效应国家重点实验室,河南洛阳471001 [3]北京卫星导航中心,北京100094

出　　处：《河北工业科技》2022年第6期461-466,共6页Hebei Journal of Industrial Science and Technology

基　　金：中央军委科技委国防科技先导计划项目(315087618)。

摘　　要：为了解决城市峡谷、信号干扰等挑战场景下,GNSS信号短暂丢失带来的定位中断问题,保证导航服务的持续性及可靠性,设计了基于GNSS/INS/LiDAR的松组合方案。首先在GNSS信号可见的情况下,以GNSS/INS组合系统的定位、定姿结果为主作为导航服务的数据参考,其次在GNSS拒止环境下,在GNSS/INS提供的定位、定姿结果基础上,采用基于LOAM算法的LiDAR里程计接替GNSS接收机系统,通过LiDAR/INS组合方式提供定位、定姿估计,保证挑战环境下的持续性定位服务,最后在实验小车平台上完成了算法验证。实验结果表明,在GNSS挑战环境下,LiDAR系统可以在短时间段内(35 s,20 m距离)保证分米级精度的续航能力。所设计的GNSS/INS/LiDAR的松组合方案可以应用在GNSS挑战环境下的导航服务中,以保证导航的持续精度能力。In order to prevent the navigation degradation caused by the GNSS outages in challenging environments including city canyon and presence of jamming signals,a loose integration strategy using GNSS/INS/LiDAR was proposed to maintain the sustainability and reliability of the navigation service.First,when GNSS signal was available,the output of a GNSS/INS integration system was used as the data reference for navigation services.Second,in case of GNSS-denied scenarios,LiDAR based on the LOAM algorithm took over the control,replacing GNSS to provide sustainable navigation service.Finally,the proposed algorithm was validated on a vehicle platform.The experimental results show that under the GNSS challenge environment,LiDAR aided integrated navigation system is able to provide an navigation service with centimeters accuracy within a short duration(35 seconds,20 meters distance).The proposed GNSS/INS/LiDAR loose integration scheme can be employed in GNSS-challenging environments to provide persistent precise navigation service.

关 键 词：测试计量仪器 GNSS INS 组合系统 LIDAR 里程计 多源融合系统 

分 类 号：U666.1[交通运输工程—船舶及航道工程]