An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

Table 1

The detailed parameters of LiDAR and IMU.

	LiDAR		IMU
Product model	Hokuyo UTM-EX	Product model	MEMS-level MTi-G
Sampling frequency	10 Hz	Sampling frequency	200 Hz
Scan range	0.1 m–30 m	Gyroscope bias	200 degrees/h
Scan angle	270 degrees	Accelerometer bias	2000 mGal; (1 Gal = 1 cm/s^2)
Angular resolution	0.25 degrees