GNSS-RTK Adaptively Integrated with LiDAR/IMU Odometry for Continuously Global Positioning in Urban Canyons

Global Navigation Satellite System Real-time Kinematic (GNSS-RTK) is an indispensable source for the absolute positioning of autonomous systems. Unfortunately, performance GNSS-RTK significantly degraded in urban canyons, due to notorious multipath and Non-Line-of-Sight (NLOS). On contrary, LiDAR/inertial odometry (LIO) can provide locally accurate pose estimation structured scenarios but subjected drift over time. Considering their complementarities, GNSS-RTK, adaptively integrated with LIO was proposed this paper, aiming realize continuous global systems scenarios. As one main contributions, paper proposes identify quality solution based on point cloud map incrementally generated by LIO. A smaller mean elevation angle mask surrounding indicates a relatively open area thus correspondent would be reliable. factor graph optimization performed fuse reliable Evaluations are datasets collected typical canyons Hong Kong. With help selection strategy, GNSS-RTK/LIO integration improved translation error reduced more than 50%, compared conventional method where all solutions used.