Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/93580
PIRA download icon_1.1View/Download Full Text
Title: 3D LiDAR aided GNSS real-time kinematic positioning
Authors: Wen, W 
Hsu, LT 
Issue Date: 2021
Source: Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, p. 2212-2220
Abstract: Global navigation satellite system real-time kinematic (GNSS-RTK) positioning is an indispensable source for providing absolute positioning for autonomous driving vehicles (ADV), due to its high accuracy when a fixed solution is achieved. Satisfactory accuracy can be obtained in open areas. However, the performance of GNSS-RTK can be significantly degraded by signal reflections from buildings, causing multipath effects and non-line-of-sight (NLOS) receptions. To fill this gap, this paper proposed a novel method to exclude the potential GNSS NLOS receptions, aided by the local environment description generated with 3D LiDAR and inertial sensor, to further improve the GNSS-RTK. The local environment description, the 3D point cloud map, is built via LiDAR/inertial integration using factor graph optimization. Then the potential GNSS NLOS receptions are detected and remove using the 3D point cloud maps before the GNSS-RTK positioning. Finally, the improved GNSS-RTK positioning is adopted to correct the drift of the 3D point cloud map derived from LiDAR/inertial integration. The effectiveness of the proposed method is verified through a challenging dataset collected in urban canyons of Hong Kong using the automobile-level low-cost GNSS receiver.
Publisher: Institute of Navigation
ISBN: 9780936406299
DOI: 10.33012/2021.18072
Description: 34th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2021), September 20-24, 2021, St. Louis, Missouri
Rights: Posted with permission of the author.
The following publication Wen, Weisong, Hsu, Li-Ta, "3D LiDAR Aided GNSS Real-time Kinematic Positioning," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 2212-2220 is first published by the Institute of Navigation and is available at https://doi.org/10.33012/2021.18072.
Appears in Collections:Conference Paper

Files in This Item:
File Description SizeFormat 
Wen_3D_Lidar_Aided.pdf873.45 kBAdobe PDFView/Open
Open Access Information
Status open access
File Version Version of Record
Access
View full-text via PolyU eLinks SFX Query
Show full item record

Page views

87
Last Week
0
Last month
Citations as of Mar 24, 2024

Downloads

132
Citations as of Mar 24, 2024

SCOPUSTM   
Citations

5
Citations as of Mar 28, 2024

WEB OF SCIENCETM
Citations

1
Citations as of Mar 28, 2024

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.