Journal Article

Mapping and localization for autonomous ship using LiDAR SLAM on the sea

Sawada, Ryohei, Hirata, Koichi

2023

Overview

In this study, the accuracy of estimation of the ship’s position and the heading angle using simultaneous localization and mapping (SLAM) with a light detection and ranging (LiDAR) at sea was verified. In general, the ship’s position and the heading angle are obtained using a global navigation satellite system (GNSS) such as global positioning system (GPS) positioning and a GPS compass. The quasi-zenith satellite system (QZSS) has also emerged in Japan with the centimeter-level positioning augmentation system (CLAS), but it does not always provide the best positioning accuracy, even at sea. In addition, while position information and the heading angle of ship are important for control of maritime autonomous surface ships (MASS), they are conventionally dependent on GNSS-based sensor systems. In considering sensor redundancy for safety of MASS, this study performed SLAM using the LiDAR to create a point cloud map of the coast. The point cloud map was compared with open map data, and it was confirmed that a highly accurate map was obtained. This point cloud map can be used for autonomous navigation such as automatic berthing. In order to evaluate the accuracy of estimating the ship’s position and the heading angle using LiDAR SLAM, we used the experimental ship to simultaneously take measurements with the marine GPS compass and the QZSS receiver for comparison, in addition to the IMU and the LiDAR, and compared the measurement accuracy by the three sensors. As a result, the position and the heading angle were estimated with higher accuracy using LiDAR SLAM at μ = 1.4 m ( σ = 1.2 m) for position estimation than the GPS with the QZSS data in the RTK-Fix condition as a reference.

• Publisher: Springer Japan,Springer,Springer Nature B.V
• Subject: Accuracy / Algorithms / Artificial satellites / Augmentation systems / Automotive Engineering / Autonomous navigation / Berthing / Compasses / Coordinate transformations / Engineering / Engineering Design / Engineering Fluid Dynamics / Estimation / Global navigation satellite system / Global positioning systems / GPS / Lidar / Localization / Mapping / Mechanical Engineering / Navigation / Navigational satellites / Offshore Engineering / Optical radar / Optimization / Original Article / Position measurement / Positioning systems / Remote sensing / Robotics / Satellite navigation systems / Sensors / Simultaneous localization and mapping