지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2022.9
- 수록면
- 817 - 829 (13page)
- DOI
- 10.5302/J.ICROS.2022.22.0129
이용수
초록· 키워드
오류제보하기
Unmanned aerial vehicles (UAVs) have received attention as aircrafts that can perform missions on behalf of humans in vulnerable environments, such as for military purposes. Therefore, research on navigation systems, one of the underlying technologies for realizing UAVs, is actively being conducted. However, in an access-vulnerable environment, a global navigation satellite system alone is insufficient for autonomous driving and for ensuring stability. Accordingly, auxiliary sensors have been used as a navigation solution in many studies; for precise navigation using LiDAR, stability and accuracy are verified in relation to the performance analysis of the algorithm and environmental factors. However, data collection is expensive and requires a considerable amount of time, leading to operational difficulties. This problem can be resolved using a LiDAR simulator, but previously proposed simulators have limitations in terms of their development effectiveness owing to the differences between actual data. Therefore, we reviewed literature on the error analysis of the LiDAR measurement value. We integrated the LiDAR error models analyzed in previous research and synthesized and implemented the error parameters of a specific LiDAR model, Ouster OS1-32, through a simulator.
목차
Abstract
I. 서론
II. 라이다 오차 요인
III. 라이다 오차 파라미터 분석
IV. 시뮬레이터 구현 결과
V. 결론
REFERENCES
참고문헌 (50)
참고문헌 신청
J. W. Song and C. G. Park, “INS/GPS integrated smoothing algorithm for synthetic aperture radar motion compensation using an extended Kalman Filter with a position damping loop,” International Journal of Aeronautical and Space Sciences (IJASS), vol. 18, no. 1, pp. 118-128, Mar. 2017.
Y. M. Kim, S. T. Kim, S. J. Park, H. A. Tran, and J. W. Song, “Adaptive navigation algorithm based on vision for special mission drone in unusable GNSS area,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 27, no. 10, pp. 784-792, Oct. 2021.
S. Un, C. W. Jeon, and T. S. Kang, “Development of multi-vehicle display navigation system,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 27, no. 4, pp. 306-311, Apr. 2021.
M. J. Choi, Y. H. Kim, E. J. Kim, and J. W. Song, “Enhancement of heading accuracy for GPS/INS by employing average velocity in low dynamic situations,” IEEE Access, vol. 8, no. 1, pp. 43826-43837, Mar. 2020.
C. Qian, H. Liu, J. Tang, Y. Chen, H. Kaartinen, A. Kukko, L. Zhu, X. Liang, L. Chen, and J. Hyppa, “An integrated GNSS/INS/LiDAR-SLAM positioning method for highly accurate forest stem mapping,” Remote Sensing, vol. 9, no. 1, pp. 3, Dec. 2017.
Y. M. Kim, S. T. Kim, S. J. Park, H. A. Tran, and J. W. Song, “Adaptive navigation algorithm based on vision for special mission drone in unusable GNSS area,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 27, no. 10, pp. 784-792, Oct. 2021.
S. Un, C. W. Jeon, and T. S. Kang, “Development of multi-vehicle display navigation system,” Journal of Institute of Control, Robotics and Systems (in Korean), vol. 27, no. 4, pp. 306-311, Apr. 2021.
M. J. Choi, Y. H. Kim, E. J. Kim, and J. W. Song, “Enhancement of heading accuracy for GPS/INS by employing average velocity in low dynamic situations,” IEEE Access, vol. 8, no. 1, pp. 43826-43837, Mar. 2020.
C. Qian, H. Liu, J. Tang, Y. Chen, H. Kaartinen, A. Kukko, L. Zhu, X. Liang, L. Chen, and J. Hyppa, “An integrated GNSS/INS/LiDAR-SLAM positioning method for highly accurate forest stem mapping,” Remote Sensing, vol. 9, no. 1, pp. 3, Dec. 2017.
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