Combining Laser Range Measurements and a Dual-IMU IPNS for Precise Indoor SLAM

摘要

In this paper an Integrated Pedestrian Navigation System (IPNS) for indoor applications with mapping capabilities based on inertial sensors and laser measurements is presented. Our proposal is a Dual-IMU IPNS comprising two inertial measurement units (MEMS IMUs), mounted at the foot and the torso, a magnetometer, a barometer and a two-dimensional laser scanner. First results indicate that the combined Dual-IMU/magnetometer/barometer/laser system can meet the challenging requirements of pedestrian indoor navigation. With our approach centimetre accurate maps and a long-term stable navigation solution can be obtained while performing indoor missions. The capabilities of our approach are demonstrated using post-processed data obtained in real-world test scenarios.