Lidar/IMU Integrated Navigation and Positioning Method

Aiming at the problem of large positioning accuracy of LiDAR odometry and mapping (LOAM) algorithm, this paper proposes a LOAM algorithm fusion Adaptive Particle Filter (APF) algorithm. Experiments show that the trajectory of the APF algorithm using the LOAM algorithm was half the accuracy of the trajectory using the LOAM algorithm. In order to better verify the accuracy effect, the R-fans 16-line laser radar was used to compare and analyze the test under closed and non-closed routes. The results show that under the closed route, the LOAM algorithm combines the APF algorithm to provide the accurate position trajectory for the car. In the non-closed route, due to the lack of closed-loop constraints, the motion distortion of the car is caused by the accumulation of errors. Through experiments, using the LOAM algorithm to merge the APF algorithm in the non-closed loop could also effectively compensate the motion distortion and filter out the noise, so as to achieve the effect of the trajectory correction, reduce the error with the real trajectory, and improve the positioning accuracy.