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Tightly coupled SLAM/GNSS for land vehicle navigation

Cheng, Jiantong; Kim, Jonghyuk; Jiang, Zhenyu; Zhang, Weihua


Simultaneous Localization and Mapping (SLAM) algorithm takes the advantages of online map building without any prior environment information and simultaneously location determining with the generated map. This paper proposes an innovative navigation algorithm, tightly coupling of SLAM and GNSS. If GNSS signals are available, the GNSS raw measurements are fused with SLAM measurements to correct the errors of the system's pose as well as reducing the uncertainty of the map. In the GNSS-denied...[Show more]

CollectionsANU Research Publications
Date published: 2014
Type: Conference paper
Source: Lecture Notes in Electrical Engineering
DOI: 10.1007/978-3-642-54740-9_64


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