Rapid extrinsic calibration of seamless multi-sensor navigation system based on laser scanning

Abstract

With the rapid development of national economy, higher requests have been put forward on PNT (positioning navigation and timing) service. Researches on integrated navigation systems, including fusion technologies of multi-navigation sources and adaptive algorithms for various application scenarios, have become the highlighted topic. The method of laboratory calibration for GNSS/INS/LiDAR integrated navigation system, applied for indoor and outdoor seamless positioning, was studied in this paper. Combined with high-precision Theodolite and Laser Scanning System, this paper proposed a laboratory high-accuracy calibration scenario for integrated navigation system, designed a rapid laboratory calibration model, deduced the corresponding error model with the analysis of differential equations and the method of Monte Carlo, and finished the lever-arm calibration of GNSS and the mounting parameters of laser scanner, and designed a rapid laboratory calibration model. Laboratory experiments had been carried out to verify the feasibility of this millimeter-level calibration method, which could be used for calibrating the initial mounting parameters of the integrated navigation system.