Vibration Error Compensation of LiDAR Imaging with the Aiding of INS for Precise Navigation

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.