학술논문
GNSS/INS/LiDAR integration in urban environment: Algorithm description and results from ATENEA test campaign
Document Type
Conference
Author
Source
2012 6th ESA Workshop on Satellite Navigation Technologies (Navitec 2012) & European Workshop on GNSS Signals and Signal Processing Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing, (NAVITEC), 2012 6th ESA Workshop on. :1-8 Dec, 2012
Subject
Language
ISSN
2325-5439
2325-5455
2325-5455
Abstract
The ATENEA (Advanced Techniques for Navigation Receivers and Applications) project aims to join deeply integrated GNSS/INS receiver architectures and LIDAR techniques to provide an advanced navigation solution. The approach is suitable for a wide range of surveying applications in difficult environments, being Urban Mapping selected as reference case. This paper presents the integrated GNSS+INS+LiDAR navigation filter, and detailed results of the test campaign carried out using both synthetic and real data. These results validate the ATENEA concept and open the possibilities of using such system for reliable navigation in urban environments.