An enhanced inertial navigation system based on a low-cost IMU and laser scanner

Hyung-Soon Kim; Seung-Ho Baeg; Kwang-Woong Yang; Kuk Cho; Sangdeok Park

doi:10.1117/12.919613

25 May 2012 An enhanced inertial navigation system based on a low-cost IMU and laser scanner

Hyung-Soon Kim, Seung-Ho Baeg, Kwang-Woong Yang, Kuk Cho, Sangdeok Park

Proceedings Volume 8387, Unmanned Systems Technology XIV; 83871J (2012) https://doi.org/10.1117/12.919613
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

This paper describes an enhanced fusion method for an Inertial Navigation System (INS) based on a 3-axis accelerometer sensor, a 3-axis gyroscope sensor and a laser scanner. In GPS-denied environments, indoor or dense forests, a pure INS odometry is available for estimating the trajectory of a human or robot. However it has a critical implementation problem: a drift error of velocity, position and heading angles. Commonly the problem can be solved by fusing visual landmarks, a magnetometer or radio beacons. These methods are not robust in diverse environments: darkness, fog or sunlight, an unstable magnetic field and an environmental obstacle. We propose to overcome the drift problem using an Iterative Closest Point (ICP) scan matching algorithm with a laser scanner. This system consists of three parts. The first is the INS. It estimates attitude, velocity, position based on a 6-axis Inertial Measurement Unit (IMU) with both 'Heuristic Reduction of Gyro Drift' (HRGD) and 'Heuristic Reduction of Velocity Drift' (HRVD) methods. A frame-to-frame ICP matching algorithm for estimating position and attitude by laser scan data is the second. The third is an extended kalman filter method for multi-sensor data fusing: INS and Laser Range Finder (LRF). The proposed method is simple and robust in diverse environments, so we could reduce the drift error efficiently. We confirm the result comparing an odometry of the experimental result with ICP and LRF aided-INS in a long corridor.

Citation Download Citation

Hyung-Soon Kim, Seung-Ho Baeg, Kwang-Woong Yang, Kuk Cho, and Sangdeok Park "An enhanced inertial navigation system based on a low-cost IMU and laser scanner", Proc. SPIE 8387, Unmanned Systems Technology XIV, 83871J (25 May 2012); https://doi.org/10.1117/12.919613

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