Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/93580
DC Field | Value | Language |
---|---|---|
dc.contributor | Department of Aeronautical and Aviation Engineering | en_US |
dc.creator | Wen, W | en_US |
dc.creator | Hsu, LT | en_US |
dc.date.accessioned | 2022-07-14T01:45:39Z | - |
dc.date.available | 2022-07-14T01:45:39Z | - |
dc.identifier.isbn | 9780936406299 | en_US |
dc.identifier.uri | http://hdl.handle.net/10397/93580 | - |
dc.description | 34th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2021), September 20-24, 2021, St. Louis, Missouri | en_US |
dc.language.iso | en | en_US |
dc.publisher | Institute of Navigation | en_US |
dc.rights | Posted with permission of the author. | en_US |
dc.rights | 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. | en_US |
dc.title | 3D LiDAR aided GNSS real-time kinematic positioning | en_US |
dc.type | Conference Paper | en_US |
dc.identifier.spage | 2212 | en_US |
dc.identifier.epage | 2220 | en_US |
dc.identifier.doi | 10.33012/2021.18072 | en_US |
dcterms.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. | en_US |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | 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 | en_US |
dcterms.issued | 2021 | - |
dc.identifier.scopus | 2-s2.0-85120582088 | - |
dc.relation.ispartofbook | Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021 | en_US |
dc.relation.conference | International Technical Meeting of the Satellite Division of The Institute of Navigation [ION GNSS] | en_US |
dc.description.validate | 202207 bckw | en_US |
dc.description.oa | Version of Record | en_US |
dc.identifier.FolderNumber | AAE-0025 | - |
dc.description.fundingSource | Self-funded | en_US |
dc.description.pubStatus | Published | en_US |
dc.identifier.OPUS | 60131943 | - |
Appears in Collections: | Conference Paper |
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Wen_3D_Lidar_Aided.pdf | 873.45 kB | Adobe PDF | View/Open |
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