Time Delay Error Online Correction of LiDAR-IMU System Through MSCKF Integrated DLRNN Method

• Published in: IEEE/ASME transactions on mechatronics Vol. 29; no. 3; pp. 1878 - 1890
• Main Authors: Liu, Wanli, Li, Zhixiong, Li, Weihua, Gardoni, Paolo, Du, Haiping, Sotelo, Miguel Angel
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Accuracy; Data integration; Delay effects; Error correction; Error reduction; Hardware; Inertial platforms; Kalman filters; Laser radar; Lidar; Light detection and ranging inertial measurement unit (LiDAR-IMU); Measurement uncertainty; online correction; Q measurement; Real time; Recurrent neural networks; time delay error; Time lag; Training

When fusing the measurement data with different sampling frequencies from the light detection and ranging (LiDAR) and inertial measurement unit (IMU), their timestamps should be exactly aligned. However, in reality the timestamps of LiDAR and IMU are typically subject to different influences, which...