Author: Xu, Weichang
Title: LiDAR matching and dynamic model based integrated navigation system with the aids of map information
Advisors: Hsu, Li-ta (AAE)
Degree: M.Sc.
Year: 2020
Subject: Automobiles -- Navigation systems
Automated vehicles
Hong Kong Polytechnic University -- Dissertations
Department: Department of Mechanical Engineering
Pages: viii, 106 pages : color illustrations
Language: English
Abstract: The current navigation system is an essential part of the autonomous mobile vehicle. At present, exteroceptive sensors such as LiDAR, RADAR, and camera is the indispensable source that can provide positioning solution in the commonly used autonomous mobile vehicle system. However, readings from sensor are often affected by unstable external environment, which result in completely lost of the vehicle in navigation. The conventional GNSS/INS setup improves the localization accuracy based on multi-sensor fusion method. However, hardware space and calibration are strictly required, which add extra cost and complexity to the system. Therefore, this research develops a novel navigation system that supply redundant solution when sensor readings absence. Additionally, the system can provide robust positioning solution in complex terrain area. This proposed navigation system is achieved by integrating kinematic/dynamic model and LiDAR matching positioning solution. The kinematic/dynamic model supports the navigation system under hostile environment where LiDAR measurements are invalid. Other than that, with the aid of terrain information from pre-calibrated map, the dynamic model ensures robust positioning solution in complex terrain area. The real data are recorded at an indoor environment with different scenarios, such as hostile environment, complex terrain surface environment. The result is evaluated by post-processing and it is shown that the proposed navigation system can sustain average absolute positioning error at 10cm in tested areas.
Rights: All rights reserved
Access: restricted access

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