Autonomous capability requires reliable and robust navigation solutions in multiple environments. GPS has become an effective tool but is not suitable for all environments. Laser scanners are quickly making their presence known in the navigation field and are proven to have a variety of uses. This paper investigates the use of LiDAR within an indoor corridor environment (i.e. hallway) to update IMU measurements. The LiDAR is combined with an IMU in a Kalman filter to produce estimates of vehicle velocity, heading, lateral error, and sensor biases. It is shown how this combination is effective in providing accurate state estimates while removing sensor errors due to noise and bias.


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    Title :

    Corridor navigation with a LiDAR/INS Kalman filter solution


    Contributors:
    Travis, W. (author) / Simmons, A.T. (author) / Bevly, D.M. (author)


    Publication date :

    2005-01-01


    Size :

    815295 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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