US 12,123,961 B2
3D LiDAR aided global navigation satellite system and the method for non-line-of-sight detection and correction
Li-ta Hsu, Hong Kong (CN); and Weisong Wen, Hong Kong (CN)
Assigned to THE HONG KONG POLYTECHNIC UNIVERSITY, Hong Kong (CN)
Filed by THE HONG KONG POLYTECHNIC UNIVERSITY, Hong Kong (CN)
Filed on Apr. 14, 2022, as Appl. No. 17/659,200.
Claims priority of provisional application 63/203,760, filed on Jul. 30, 2021.
Prior Publication US 2023/0033404 A1, Feb. 2, 2023
Int. Cl. G01S 19/44 (2010.01); G01S 17/93 (2020.01); G01S 17/931 (2020.01); G01S 19/45 (2010.01)
CPC G01S 19/44 (2013.01) [G01S 17/931 (2020.01); G01S 19/45 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, used by a vehicle, for supporting positioning of the vehicle using a satellite positioning system, the method comprising:
receiving a LiDAR factor and an inertial measurement unit (IMU) factor, from a 3D LiDAR sensor and a LiDAR inertial odometry (LIO);
integrating the LiDAR factor and the IMU factor using a local factor graph optimization for estimating a relative motion between two epochs;
generating a 3D point cloud map (PCM) as an auxiliary landmark satellite for providing a low elevation auxiliary landmark satellite;
receiving global navigation satellite system (GNSS) measurements from satellites, by a GNSS receiver;
detecting a GNSS non-line-of-sight (NLOS) reception from the GNSS measurements using the 3D PCM; and
excluding the GNSS NLOS reception from the GNSS measurements to obtain survived GNSS satellite measurements for enhancing GNSS measurement quality for the positioning of the autonomous driving vehicle.