Design and Analysis of the Integrated Navigation System Based on INS/UWB/LiDAR Considering Tunnel Environment 


Vol. 47,  No. 12, pp. 2147-2155, Dec.  2022
10.7840/kics.2022.47.12.2147


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  Abstract

This paper deals with the algorithm of multiple sensor fusion based navigation system considering tunnel environment with 3D point cloud map. The proposed integrated system is designed to performance complementary navigation using tightly coupled UWB sensors and 3D LiDAR. To verify the performance of the proposed algorithm, and experiment is conducted in a corridor environment similar to a tunnel by configuring a sensor module. It is verified that the sensor fusion of the two sensors was complementary to each other through the analysis of the localization of UWB and LiDAR. Finally we compare the performance of proposed algorithm with other sensor fusion. As a result, our method shows the closest performance to the actual trajectory.

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[IEEE Style]

G. Park, S. Jang, S. Jang, S. Yoon, "Design and Analysis of the Integrated Navigation System Based on INS/UWB/LiDAR Considering Tunnel Environment," The Journal of Korean Institute of Communications and Information Sciences, vol. 47, no. 12, pp. 2147-2155, 2022. DOI: 10.7840/kics.2022.47.12.2147.

[ACM Style]

Gwangsoo Park, Seonghyun Jang, Soohyun Jang, and Sanghun Yoon. 2022. Design and Analysis of the Integrated Navigation System Based on INS/UWB/LiDAR Considering Tunnel Environment. The Journal of Korean Institute of Communications and Information Sciences, 47, 12, (2022), 2147-2155. DOI: 10.7840/kics.2022.47.12.2147.

[KICS Style]

Gwangsoo Park, Seonghyun Jang, Soohyun Jang, Sanghun Yoon, "Design and Analysis of the Integrated Navigation System Based on INS/UWB/LiDAR Considering Tunnel Environment," The Journal of Korean Institute of Communications and Information Sciences, vol. 47, no. 12, pp. 2147-2155, 12. 2022. (https://doi.org/10.7840/kics.2022.47.12.2147)
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pISSN : 1226 - 4717
eISSN : 2287 - 3880