Performance Improvement of GNSS/IMU with SLAM in Satellite Invisibility
Mitsuki Komae, Kazumasa KAWATA, Ryohei SASAKI, Junichi MEGURO · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2023
Accurate vehicle position estimation is essential for automated driving and mapping. GNSS (Global Navigation Satellite System), IMU (Inertial Measurement Unit), and wheel speed are used for vehicle position estimation. However, some vehicles have difficulty in acquiring wheel speeds, which limits the range in which they can be used. Therefore, this study proposes a method to improve the accuracy of DR in sections where the FIX solution is not available by estimating the speed using SLAM with LiDAR, which is often used for automatic driving and mapping, with the goal of achieving the same performance as the method with wheel measurements.