Perceived Environment Aided GNSS Single Point Positioning: An Example using LiDAR Scanner

摘要

Autonomous driving introduces high demand in GNSS in all driving environments. Currently, GNSS performance is heavily challenged in deep urban canyons. The positioning error can go up to even 100 meters, due to the notorious non-line-of-sight (NLOS) receptions which dominates the GNSS positioning errors in dense-building areas (see Hsu 2018 in Additional Resources). The conventional solution is to integrate GNSS with other on-board sensors including, inertial navigation systems (INS), vehicular odometry, and vehicular steering. More recently, more sensors are installed on the future intelligent vehicle as shown in Figure 1. Thus, visual odometry and LiDAR odometry are also integrated with GNSS now.