{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T15:30:20Z","timestamp":1779377420458,"version":"3.53.1"},"reference-count":27,"publisher":"MDPI AG","issue":"19","license":[{"start":{"date-parts":[[2020,10,8]],"date-time":"2020-10-08T00:00:00Z","timestamp":1602115200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Natural Science Foundation of China (NSFC)","award":["No. 61803118"],"award-info":[{"award-number":["No. 61803118"]}]},{"name":"Science and Technology Research Program of Chongqing Municipal Education Commission","award":["KJZD-K201804701"],"award-info":[{"award-number":["KJZD-K201804701"]}]},{"name":"Post Doc. Foundation of Heilongjiang Province","award":["No. LBH-Z17053"],"award-info":[{"award-number":["No. LBH-Z17053"]}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["No. HEUCFJ180402"],"award-info":[{"award-number":["No. HEUCFJ180402"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Global Navigation Satellite System (GNSS) provides accurate positioning data for vehicular navigation in open outdoor environment. In an indoor environment, Light Detection and Ranging (LIDAR) Simultaneous Localization and Mapping (SLAM) establishes a two-dimensional map and provides positioning data. However, LIDAR can only provide relative positioning data and it cannot directly provide the latitude and longitude of the current position. As a consequence, GNSS\/Inertial Navigation System (INS) integrated navigation could be employed in outdoors, while the indoors part makes use of INS\/LIDAR integrated navigation and the corresponding switching navigation will make the indoor and outdoor positioning consistent. In addition, when the vehicle enters the garage, the GNSS signal will be blurred for a while and then disappeared. Ambiguous GNSS satellite signals will lead to the continuous distortion or overall drift of the positioning trajectory in the indoor condition. Therefore, an INS\/LIDAR seamless integrated navigation algorithm and a switching algorithm based on vehicle navigation system are designed. According to the experimental data, the positioning accuracy of the INS\/LIDAR navigation algorithm in the simulated environmental experiment is 50% higher than that of the Dead Reckoning (DR) algorithm. Besides, the switching algorithm developed based on the INS\/LIDAR integrated navigation algorithm can achieve 80% success rate in navigation mode switching.<\/jats:p>","DOI":"10.3390\/rs12193271","type":"journal-article","created":{"date-parts":[[2020,10,9]],"date-time":"2020-10-09T10:19:23Z","timestamp":1602238763000},"page":"3271","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":43,"title":["Indoor and Outdoor Low-Cost Seamless Integrated Navigation System Based on the Integration of INS\/GNSS\/LIDAR System"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0383-2083","authenticated-orcid":false,"given":"Ningbo","family":"Li","sequence":"first","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8803-910X","authenticated-orcid":false,"given":"Lianwu","family":"Guan","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanbin","family":"Gao","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shitong","family":"Du","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"},{"name":"Informatics VII: Robotics and Telematics, Julius-Maximilians-University W\u00fcrzburg, Am Hubland, 97074 W\u00fcrzburg, Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Menghao","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"},{"name":"Computer Science Department, Aalto University, 00076 Aalto, Finland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2406-0919","authenticated-orcid":false,"given":"Xingxing","family":"Guang","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"},{"name":"Department of Electrical and Computer Engineering, University of Calgary, Calgary, AB T2N1N4, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaodan","family":"Cong","sequence":"additional","affiliation":[{"name":"Institute of Intelligent Manufacturing Heilongjiang Academy of Sciences, Harbin 150008, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2020,10,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"605","DOI":"10.1016\/j.ymssp.2017.07.051","article-title":"An innovative information fusion method with adaptive Kalman filter for integrated INS\/GPS navigation of autonomous vehicles","volume":"100","author":"Liu","year":"2018","journal-title":"Mech. 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