摘要：What are the benefits of combining laser radar (ladar) and inertial data for navigation?
A: Indoor and urban outdoor areas still pose a very challenging environment for most GNSS receivers. In such areas, buildings and other obstacles generally introduce a significant GNSS signal attenuation and create a variety of multipath reflections. Although man-made obstacles represent a significant challenge for GNSS-based localization, they can be efficiently used as localization reference points if their navigation-related features are detected and feature parameters are estimated.
