A positioning and orientation method based on the usage of INS and single-beam Lidar

A positioning and orientation technique for land vehicle based on the integration of INS and single-beam Lidar was presented. First, the definition of the reference coordinates of inertial measurement unit (IMU), vehicle and Lidar was presented, and an independent calibration method for parameters such as installation angles was established. Error model of the single-beam Lidar was deduced based on the defined coordinates and the error model and the combined measurement model of the integrated system were established. Kalman filter was applied to realize the integrated positioning and orientation based on INS and single-beam Lidar. Finally, the numerical simulation and vehicle test were carried out and the correlated results were presented to demonstrate the validity of the positioning and orientation method proposed in this work.