SLAM with 3Dimensional-GNSS
SLAM with 3Dimensional-GNSS
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DOI：
10.1109/plans.2016.7479701
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发表时间：
2016-04
期刊：
影响因子：
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通讯作者：
Yanlei Gu;Yutaro Wada;L. Hsu;S. Kamijo
中科院分区：
文献类型：
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作者：
Yanlei Gu;Yutaro Wada;L. Hsu;S. Kamijo
本文提出了一种用于同时定位和制图的3D-GNSS定位技术。3D建筑物模型成为许多定位技术（如LiDAR和GPS定位方法）的重要辅助工具。为了自动生成大范围的精确地图，需要移动的测图平台的精确定位。然而，GNSS定位性能严重下降，因为在城市地区的多径和非视距（NLOS）的影响。该方法借助三维建筑物地图，区分接收到的GNSS信号是以LOS还是NLOS路径传输，并计算反射路径长度，以改善定位误差。为了实现城市峡谷中车辆的高精度定位，进一步开发了基于3D-GNSS的车辆自定位系统，该系统由3D-GNSS、惯性传感器和视觉传感器组成。另一方面，高精度的定位需要精确的3D建筑地图。受3D-GNSS思想的启发，本文提出通过估计GNSS信号的反射来优化3D建筑物地图。此外，在地图绘制阶段，利用我们的整合定位系统来估计移动的地图绘制平台的位置。实验结果表明，定位和映射精度均达到亚米级。
This paper presents a 3Dimensional-GNSS (3D-GNSS) positioning technique, which is used for localization and mapping simultaneously (SLAM). The 3D building model becomes an important aid to many positioning techniques such as LiDAR and GPS positioning methods. In order to automatically create the accurate map in wide area, the precise position of mobile mapping platform is needed. However, GNSS positioning performance is severely degraded because of the effects of multipath and Non-Line-Of-Sight (NLOS) in the urban area. With the aid of 3D building map, the proposed 3D-GNSS distinguishes whether the received GNSS signal is transmitted as LOS or NLOS path, and can calculate the length of reflection path for the improvement of positioning error. To achieve highly accurate positioning in urban canyon, we further develop 3D-GNSS based integrated vehicle self-localization system, which is comprised of 3D-GNSS, inertial sensor and vision sensor. On the other hand, highly precise positioning needs the accurate 3D building map. Inspired by the idea of 3D-GNSS, this paper proposes to optimize the 3D building map by estimating the reflection of GNSS signals. In addition, the position of mobile mapping platform is estimated from our integrated localization system in the mapping stage. The experimental result demonstrates that sub-meter accuracy is achieved in both localization and mapping.