Tight Coupling of Laser Scanner and Inertial Measurements for a Fully Autonomous Relative Navigation Solution

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Abstract
The paper describes a fully autonomous relative navigation solution for urban environments (indoor and outdoor). The navigation solution is derived by combining measurements from a two‐dimensional (2D) laser scanner with measurements from inertial sensors. This derivation relies on the availability of structures (lines and surfaces) within the scan range (80 m depth, typically). Navigation herein is performed in completely unknown environments. No map information is assumed to be available a priori. Indoor and outdoor live data test results are used to demonstrate performance characteristics of the laser/inertial integrated navigation. Relative positioning at the cm‐level is demonstrated for indoor scenarios where well‐defined features and good feature geometry are available. Test data from challenging urban environments show position errors at the meter‐level after approximately 200 m of travel (between 0.6% and 0.8% of distance traveled).

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