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- W2904227574 abstract "When flying through undulating terrain or flying with a large tilt angle, the existing LiDAR navigation algorithms have difficulty in outputting continuous, stable and high-precision navigation information, which seriously affects the accuracy and robustness of LiDAR/INS integrated navigation system. To solve the above problems, this paper proposes an adaptive switching algorithm based on Sigmoid function. By judging the platform inclination and fluctuation degree of the scanning area, an adaptive switching mechanism of two LiDAR navigation methods of ICP and SLPF is constructed. The simulation results show that the airborne LiDAR/INS integrated navigation method proposed in this paper can greatly improve the position estimation accuracy when the platform is flying through the undulating terrain or flying with a large tilt angle (pitch angle, roll angle). Compared with the existing CMLP, ICP and SLPF algorithms, the proposed LiDAR/INS integrated navigation algorithm has improved the three-dimensional positioning accuracy by 78.7%, 53.7% and 18.3% respectively." @default.
- W2904227574 created "2018-12-22" @default.
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- W2904227574 date "2018-09-01" @default.
- W2904227574 modified "2023-09-26" @default.
- W2904227574 title "Airborne LiDAR/INS integrated navigation based on adaptive switching between ICP and SLPF" @default.
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- W2904227574 doi "https://doi.org/10.1109/icspcc.2018.8567762" @default.
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