Precise positioning through a loosely-coupled sensor fusion of GNSS-RTK, INS and LiDAR for autonomous driving

In this paper we describe the integration done between GNSS-RTK/INS/LiDAR in a loosely coupled Kalman Filter in the context of autonomous driving applications. Specifically, we focus in the assessment of potential LiDAR updates by comparing the velocity profile obtained by the GNSS/INS integration solution and the LiDAR observations. The results from a test drive are shown to provide an insight of the advantages of using the LiDAR updates in GNSS denied environments.