Abstract:

Autonomous positioning is a fundamental capability of autonomous vehicles. Global navigation satellite system （GNSS） can provide positioning solutions in open environments， however， in enclosed environments， such as ports or industrial parks， environmental factors such as high?density vegetation and buildings will lead to instability of GNSS signals， thus affecting positioning accuracy and posing a serious threat to the safety of the automatic driving system. In order to solve this problem， this paper presents an automatic driving positioning method that integrates light detection and ranging （LiDAR） and inertial measurement unit （IMU）. A vehicle kinematics model is introduced to constrain the orientation of vehicle poses optimization， at the same time， the system residuals are built by using the modular design idea， which are optimized jointly based on tight coupling method to obtain the accurate pose of the vehicle. The experimental results demonstrate that the proposed method can improve the positioning accuracy and robustness of autonomous vehicles in weak GNSS signal environments.

Key words: automatic driving, autonomous positioning, tight coupling, vehicle kinematics model