A Global ArUco-Based Lidar Navigation System for UAV Navigation in GNSS-Denied Environments

With the continuous expansion of application field UAV intelligent systems to GNSS-denied environments, existing navigation system can hardly meet low cost, high precision, and robustness in such conditions. Most used environments give up connection between map frame actual world frame, making them impossible apply practice. Therefore, this paper proposes a Lidar based on global ArUco, which is widely large-scale known scenarios for UAVs. The jointly optimizes Lidar, inertial measurement unit, ArUco information by factor graph outputs pose real-world frame. includes method update confidence with sampling, improving accuracy while using solved from ArUco. uses maintain when degraded. also has loop closure determination part reduces consumption computing resources. been tested dry coal shed thermal power plant platform. Experiments demonstrate that achieve global, accurate, robust estimation large-scale, complex environments.