Experimental integrity evaluation of tightly-integrated IMU/LIDAR including return-light intensity data

Ali Hassani, Nicholas Morris, Matthew Spenko, Mathieu Joerger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

This paper describes the design, analysis, and experimental evaluation of a new method to integrate measurements from light detection and ranging (LiDAR) and inertial measurement units (IMU). A tight IMU/LiDAR integration scheme is developed, which aims at exploiting the complementary properties of the two sensors while facilitating safety risk evaluation. In particular, the IMU is used to improve LiDAR position and orientation prediction (or pose), thereby reducing the the risk of incorrectly associating sensed features with mapped landmarks. Conversely, LiDAR pose estimation updates can limit the drift of IMU errors over time. In order to further improve data association, LiDAR return-light intensity measurements are incorporated, which helps distinguish landmarks and thus reduces the risk of incorrect associations. The new method is evaluated and analyzed using experimental data.

Original languageEnglish (US)
Title of host publicationProceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019
PublisherInstitute of Navigation
Pages2637-2658
Number of pages22
ISBN (Electronic)0936406232, 9780936406237
DOIs
StatePublished - Jan 1 2019
Externally publishedYes
Event32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019 - Miami, United States
Duration: Sep 16 2019Sep 20 2019

Publication series

NameProceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019

Conference

Conference32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019
CountryUnited States
CityMiami
Period9/16/199/20/19

ASJC Scopus subject areas

  • Communication
  • Computer Science Applications
  • Information Systems
  • Software
  • Electrical and Electronic Engineering
  • Computer Networks and Communications

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  • Cite this

    Hassani, A., Morris, N., Spenko, M., & Joerger, M. (2019). Experimental integrity evaluation of tightly-integrated IMU/LIDAR including return-light intensity data. In Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019 (pp. 2637-2658). (Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019). Institute of Navigation. https://doi.org/10.33012/2019.17095