Design of Navigation System for Underground Mine Complex Environment Based on LVI

Due to the problems of poor light, dust disturbance, and lack of structured information in underground mines, LVI multi-sensor fusion navigation is usually used. However, due to the data transmission delay and sensor installation error in the process of multi-sensor information fusion, the problem of time space non synchronization is easy to occur. In order to solve this problem, this paper designs an underground mine complex environment navigation system based on LVI. The temporal and spatial alignment technology is adopted. IMU time is selected as the registration reference. First, LI is interpolated and registered, and then VI is estimated by minimizing the joint residual motion state. The LVI measurement equation is constructed by factor graph synthesis to solve the position and attitude. The system is deployed on the vehicle platform, and the relative positioning error in the simulation experiment site is less than 4%. Compared with other open source navigation systems in the same environment, the system has a good positioning and navigation results.