arxivcs.RO2026-07-06
WinTA-GIL: Windowed Trajectory Alignment for GNSS-IMU-LiDAR Heading Refinement in Intermittent Signal Environments
Kaixin Feng, Zhichao Wen, Zhaohong Liao, Xin Xia, You Li
Although multi-source fusion positioning systems have achieved significant progress, accurate and reliable heading estimation remains a critical challenge due to the lack of gravitational constraints and the inherent weak observability of heading in complex environments. Most exi…