Sensor role reversal: How lidar can replace GNSS for navigation

Airborne lidar/INS/GNSS: Algorithm Uses Fuzzy Controlled Scale Invariant Feature Transform

Opening Figure. Comparison between SR and DEM data from the same area.

Sensor role reversal: Lidar with its superior performance can replace GNSS in the integration solution by providing fixes for the drifting inertial measurement unit (IMU). Tests show its potential for terrain-referenced navigation due to its high accuracy, resolution, update rate and anti-jamming abilities. A novel algorithm uses scanning lidar ranging data and a reference database to calculate the navigation solution of the platform and then further fuse with the inertial navigation system (INS) output data.