ArticleSensors (Basel, Switzerland)2026
Vibration Error Compensation of LiDAR Imaging with the Aiding of INS for Precise Navigation.
Article in Sensors (Basel, Switzerland), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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5 authors.
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Abstract
Point cloud images from LiDAR often suffer distortion due to platform vibration. This paper proposes a LiDAR-INS (Inertial Navigation System) integrated navigation method to address the challenge of low positioning accuracy in complex environments. To solve problems like GPS signal denial and vibration interference, we present a method for achieving centimeter-level positioning. This method uses INS attitude information to compensate for LiDAR vibration errors. A vibration error model is established to quantify the impact of vibration on point cloud distortion. High-frequency INS attitude data is then used to correct the LiDAR point cloud distortion caused by platform vibration. Leveraging the non-repetitive scanning pattern of prism-based LiDAR, a joint compensation strategy for vibration error and angular error is proposed. This strategy enhances both point cloud density and positioning robustness. State and observation equations for the LiDAR-INS integrated navigation system are derived. A Kalman filter is employed to achieve optimal data fusion between the LiDAR and INS. Finally, field experiments were conducted in both laboratory settings and a typical application scenario: a tunnel construction site. These experiments validate the effectiveness of the proposed method.
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