LiDAR and IMU Inertial Guidance Combined Navigation Front-End Design

The combination of laser radar and IMU inertial navigation technology can establish a real-time point cloud map of the vehicle’s surrounding environment. The combination of navigation technology can accurately restore the external environment of the tank. Even in the dark and harsh weather conditions, the observer can effectively observe the external environment of the tank. For internal sensors, IMU inertial navigation can monitor the acceleration and angular velocity information based on the carrier’s motion status to obtain the carrier’s pose transformation state. Based on the tank-mounted multi-line laser radar as the hardware basis, research is conducted on algorithms such as data collection, matching, and pose calculation of laser point cloud data. This fusion positioning algorithm is based on the LeGO-LOAM algorithm for laser radar. The input source in the algorithm is laser point cloud data and the gyroscope data and accelerometer data of IMU inertial navigation. The laser radar sensor can obtain pose information through its own point cloud registration, and the IMU inertial navigation algorithm can obtain corresponding velocity and pose information through a strapdown navigation algorithm. The output information of IMU in the algorithm serves as the initial value for the laser radar sensor to solve the pose information. Through the ESKF algorithm, the updated laser radar data information and the real-time output information of IMU are fused to provide pose information for inter-frame registration of laser point clouds.