Global Navigation Satellite System (GNSS) provides accurate positioning data for vehicular navigation in open outdoor environment.In an indoor environment, Light Detection and Ranging (LIDAR) Simultaneous Localization and Mapping (SLAM) establishes a two-dimensional map and provides positioning data.However, LIDAR can only provide relative positioning data and it cannot directly provide the latitude and longitude of the current position.As Bike Accessories - Hydration a consequence, GNSS/Inertial Navigation System (INS) integrated navigation could be employed in outdoors, while the indoors part makes use of INS/LIDAR integrated navigation and the corresponding switching navigation will make the indoor and outdoor positioning consistent.In addition, when the vehicle enters the garage, the GNSS signal will be blurred for a while and then disappeared.
Ambiguous GNSS satellite signals will lead to the Napkin Set continuous distortion or overall drift of the positioning trajectory in the indoor condition.Therefore, an INS/LIDAR seamless integrated navigation algorithm and a switching algorithm based on vehicle navigation system are designed.According to the experimental data, the positioning accuracy of the INS/LIDAR navigation algorithm in the simulated environmental experiment is 50% higher than that of the Dead Reckoning (DR) algorithm.Besides, the switching algorithm developed based on the INS/LIDAR integrated navigation algorithm can achieve 80% success rate in navigation mode switching.