error probelm

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allign direction:

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the positioning error

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proposed method:

lonMeanEr_ 1.01447245677e-06 lonstd_---- 0.000263704622332
mean error 0.218703022397 error std 0.223677313733
totalMeanEr_ 0.000281880412753 Totalstd_---- 0.000229859834402
latMeanEr_ 0.000147740768783 latstd_---- 0.000200999161765
lonMeanEr_ 1.94040001056e-06 lonstd_---- 0.000264201506659
mean error 0.218703022397 error std 0.223677313733
totalMeanEr_ 0.000282248324188 Totalstd_---- 0.000229759820292
latMeanEr_ 0.000147675302428 latstd_---- 0.000200793892243
lonMeanEr_ 2.86245339049e-06 lonstd_---- 0.000264692166378
mean error 0.218703022397 error std 0.223677313733

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conventional method:

mean error 156.937542183 error std 87.5898278061
totalMeanEr_ 135.800259125 Totalstd_---- 87.8514904212
latMeanEr_ 66.3720003862 latstd_---- 69.9156268631
lonMeanEr_ -100.277690619 lonstd_---- 82.4441778488
mean error 156.937542183 error std 87.5898278061
totalMeanEr_ 135.877488961 Totalstd_---- 87.7768772299
latMeanEr_ 66.2990545062 latstd_---- 69.8615714413
lonMeanEr_ -100.422608663 lonstd_---- 82.4202190425
mean error 156.937542183 error std 87.5898278061
totalMeanEr_ 135.954399665 Totalstd_---- 87.7024416864
latMeanEr_ 66.2264100555 latstd_---- 69.8076220371
lonMeanEr_ -100.566927873 lonstd_---- 82.3960990127
mean error 156.937542183 error std 87.5898278061
totalMeanEr_ 136.030993211 Totalstd_---- 87.6281831682
latMeanEr_ 66.1540651695 latstd_---- 69.753778449
lonMeanEr_ -100.710651952 lonstd_---- 82.3718201362
mean error 156.937542183 error std 87.5898278061

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eanEr_ 50.864429079 latstd_---- 69.1979694046
lonMeanEr_ -56.438010094 lonstd_---- 78.9090640326
mean error 153.814801224 error std 90.173505194
percent_1= 0.078431372549 percent_2= 0.156862745098 percent_3= 0.823529411765
totalMeanEr_ 91.0848800972 Totalstd_---- 92.1057854366
latMeanEr_ 50.7835757881 latstd_---- 69.1683050356
lonMeanEr_ -56.4369283269 lonstd_---- 78.8430633791
mean error 153.814801224 error std 90.173505194
percent_1= 0.078431372549 percent_2= 0.156862745098 percent_3= 0.823529411765
totalMeanEr_ 91.0261415298 Totalstd_---- 92.0400793747
latMeanEr_ 50.7029924581 latstd_---- 69.1386329692
lonMeanEr_ -56.4358501716 lonstd_---- 78.7772280607
mean error 153.814801224 error std 90.173505194
percent_1= 0.078431372549 percent_2= 0.156862745098 percent_3= 0.823529411765
totalMeanEr_ 90.9675987576 Totalstd_---- 91.974508302
latMeanEr_ 50.6226777392 latstd_---- 69.1089536401
lonMeanEr_ -56.4347756102 lonstd_---- 78.7115573882
mean error 153.814801224 error std 90.173505194
percent_1= 0.078431372549 percent_2= 0.156862745098 percent_3= 0.823529411765
totalMeanEr_ 90.9092508032 Totalstd_---- 91.9090717848

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adaptive covariance:

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For conventional GNSS/LiDAR integration solution:
the result is shown as following:



percent_1= 0.537037037037 percent_2= 0.833333333333 percent_3= 0.12962962963
totalMeanEr_ 15.2258040627 Totalstd_---- 14.740758097
latMeanEr_ -0.863585193662 latstd_---- 18.7516074803
lonMeanEr_ 3.52970564874 lonstd_---- 8.59071003101
mean error 18.9805950955 error std 18.8609596149
percent_1= 0.537037037037 percent_2= 0.833333333333 percent_3= 0.12962962963
totalMeanEr_ 15.2212461942 Totalstd_---- 14.728912602
latMeanEr_ -0.851115924419 latstd_---- 18.7384900628
lonMeanEr_ 3.54143768695 lonstd_---- 8.58836931151
mean error 18.9805950955 error std 18.8609596149
percent_1= 0.537037037037 percent_2= 0.833333333333 percent_3= 0.12962962963
totalMeanEr_ 15.2167034681 Totalstd_---- 14.7170955695
latMeanEr_ -0.83868808132 latstd_---- 18.7253988196
lonMeanEr_ 3.55313074829 lonstd_---- 8.58601978256
mean error 18.9805950955 error std 18.8609596149
percent_1= 0.537037037037 percent_2= 0.833333333333 percent_3= 0.12962962963
totalMeanEr_ 15.2121758091 Totalstd_---- 14.7053068859
latMeanEr_ -0.826301458264 latstd_---- 18.7123336706
lonMeanEr_ 3.56478502667 lonstd_---- 8.58366155683
mean error 18.9805950955 error std 18.8609596149
percent_1= 0.537037037037 percent_2= 0.833333333333 percent_3= 0.12962962963

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For proposed GNSS/LiDAR integration solution, if we use the GNSS all the time and the estimated covariance is employed in the integration.
the result is shown as following:

mean error can go up to 1.5 meters , std can go up to 1.3 meters

For proposed GNSS/LiDAR integration solution, if we use the GNSS only when the covariance is less than 30 and the estimated covariance is employed in the integration.
the result is shown as following: