Abstract
The Unmanned Surface Vehicle (USV) cannot rely on GPS signals for positioning when they pass through areas with weak or disappearing GPS signals such as culverts and bridges in a complex outdoor environment. An USV system based on lidar is designed to realize the positioning and autonomous navigation without GPS. Two-dimensional lidar combined with IMU is used to perceive the surrounding environment, Google Cartographer Simultaneous Location and Mapping (SLAM) method is adopted to perform 2D mapping of the surrounding environment, and the Extended Kalman Filter (EKF) algorithm is used for the fusion of map matching data and IMU pre-integration data. Results of experiments show that the system can achieve stable and high-precision positioning and navigation in narrow inland rivers.
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Acknowledgement
This work was supported by the Science and Technology Guidance Project of Fujian (2019H0007), the National Natural Science Foundation of China (51977040).
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Zha, Q., Huang, Y. (2022). Research on Positioning and Navigation of USV Based on Lidar. In: Jia, Y., Zhang, W., Fu, Y., Yu, Z., Zheng, S. (eds) Proceedings of 2021 Chinese Intelligent Systems Conference. Lecture Notes in Electrical Engineering, vol 803. Springer, Singapore. https://doi.org/10.1007/978-981-16-6328-4_71
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DOI: https://doi.org/10.1007/978-981-16-6328-4_71
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