| Title |
Study of Integrated Navigation System Based on Point Cloud Data and Map for Environment under Bridge |
| Authors |
박광수(Gwangsoo Park) ; 이영재(Young Jae Lee) ; 성상경(Sangkyung Sung) |
| DOI |
https://doi.org/10.5370/KIEE.2020.69.12.1970 |
| Keywords |
Bridge; GPS-challenge; Point Cloud Data; Integrated Navigation |
| Abstract |
This paper investigates an integrated navigation framework based on effective 2D point cloud data considering the under-bridge environment. The proposed method newly devised an integration framework in the GPS-challenged environment under bridge through combining horizontal point cloud data and inertial measurements. In this, the efficiency of data processing and integration was substantially reflected for the real-time navigation performance. In order to consider various bridge environments, we explored the bridge geometry and map approximation to realize the practical application possibility of the proposed algorithm. Finally, a detailed bridge environment simulator study was conducted to validate the performance of the proposed technique. |