Research on Autonomous Driving Navigation in GNSS Denial Environment

With the development of the automotive industry, the status of autonomous driving technology is gradually increasing. It becomes a symbol of a country's technological strength in the automotive industry. China has also introduced a series of policies to promote the development of autonomous driving technology. In autonomous driving technology, there are three key modules: perception, decision-making, and planning. The research on positioning systems is highly valued by researchers. In positioning systems, satellite navigation systems represented by GPS and the Beidou system are the main sources of information for obtaining the location of autonomous vehicles. However, the reception of signals from satellite navigation systems is often disturbed in special weather conditions and terrain conditions. Therefore, relying on single satellite navigation systems for positioning does not satisfy the requirements of actual autonomous driving conditions. At present, to get precise positioning under the GNSS denial environments, various vehicular sensors are used to obtain the vehicle body position information. Single-sensor SLAM technology cannot satisfy the requirements of precise positioning because of the differences in working principles. The multiple sensors coupled with SLAM technology are necessary to be studied. This article mainly introduces the GNSS positioning and mapping technology based on IMU and LiDAR fusion and the advanced positioning system based on three-sensor fusion.