Unmanned Vehicle Positioning System Fusion of Radar and Inertial Navigation

Based on the two sensors commonly used in unmanned vehicle positioning technology, this paper utilizes the LeGO-LOAM framework built by relying on the ROS integrated development environment, fuses the established lidar and inertial navigation models, builds an unmanned vehicle positioning system, and realizes the linkage of functions, giving full play to the advantages of the two sensors such as wide field of view, high accuracy of the ranging value, and the ability to faithfully reflect the structure of the three-dimensional environment. The positioning system has passed the simulation experiment of evaluating the positioning effect of the algorithm by relying on the dataset, as well as the real-vehicle test, and the system performs well.