LiDARを用いたIMUの加速度誤差推定による高精度な車両姿勢角推定に関する研究

抄録

When RTK-GNSS is used for tall large vehicles, there is a problem that the estimated vehicle position is easily affected by the attitude angle. In addition, the acceleration error in the IMU used for attitude angle estimation makes it difficult to estimate the attitude angle with high accuracy. In this paper, we focus on the roll angle and pitch angle, and propose a method to estimate the attitude angle accurately and robustly by using LiDAR and IMU to compensate for the IMU error. In addition, an evaluation test of the proposed method is conducted to confirm its effectiveness in attitude angle estimation.