A Lidar-Inertial Navigation System for UAVs in GNSS-Denied Environment with Spatial Grid Structures

With its fast and accurate position and attitude estimation, the feature-based lidar-inertial odometer is widely used for UAV navigation in GNSS-denied environments. However, the existing algorithms cannot accurately extract the required feature points in the spatial grid structure, resulting in red...

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Bibliographic Details

Published in:	Applied Sciences
Main Authors:	Ziyi Qiu, Junning Lv, Defu Lin, Yinan Yu, Zhiwen Sun, Zhangxiong Zheng
Format:	Article
Language:	English
Published:	MDPI AG 2022-12-01
Subjects:	UAV lidar navigation system GNSS-denied environment spatial grid structure feature extraction
Online Access:	https://www.mdpi.com/2076-3417/13/1/414