Indoor and outdoor low-cost seamless integrated navigation system based on the integration of INS/GNSS/LIDAR system

Ningbo Li, Lianwu Guan*, Yanbin Gao, Shitong Du, Menghao Wu, Xingxing Guang, Xiaodan Cong

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

16 Citations (Scopus)
54 Downloads (Pure)


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 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 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.

Original languageEnglish
Article number3271
Pages (from-to)1-21
Number of pages21
JournalRemote Sensing
Issue number19
Publication statusPublished - Oct 2020
MoE publication typeA1 Journal article-refereed


  • GNSS/INS integrated navigation
  • INS/LIDAR integrated navigation
  • Switching navigation
  • Vehicular navigation


Dive into the research topics of 'Indoor and outdoor low-cost seamless integrated navigation system based on the integration of INS/GNSS/LIDAR system'. Together they form a unique fingerprint.

Cite this