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In order to satisfy the complicated and varied navigation needs in the AGV work environment, we have studied navigation with the difference GNSS and laser slam. Differential GNSS navigation system is outdoor. The combination of GNSS and INS was converted to a plane coordinate system by Gaussian projection. In this paper, we obtain the position and attitude information in the laser plane coordinate system using the SLAM algorithm. Next, we move the two coordinate systems to rotate, acquire navigation position and attitude information, and finally switch navigation information from different sources at any time to ensure the reliability of indoor navigation information.

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A Cooperative Navigation Method Based on GNSS/SLAM Integrated Location Information Fusion Revise

  • 会议论文

  • 发表日期：

    2025年

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  • Haining Lu,
  • Hai Lin,
  • Kangping Lu,
  • Wenjie Jing,
  • Di Zhang,
  • Haijie Liu

摘要

In order to satisfy the complicated and varied navigation needs in the AGV work environment, we have studied navigation with the difference GNSS and laser slam. Differential GNSS navigation system is outdoor. The combination of GNSS and INS was converted to a plane coordinate system by Gaussian projection. In this paper, we obtain the position and attitude information in the laser plane coordinate system using the SLAM algorithm. Next, we move the two coordinate systems to rotate, acquire navigation position and attitude information, and finally switch navigation information from different sources at any time to ensure the reliability of indoor navigation information.