Lane-Level Integrity Provision for Navigation and Map Matching With GNSS, Dead Reckoning, and Enhanced Maps

R. Toledo-Moreo, D. Betaille, F. Peyret
2010 IEEE transactions on intelligent transportation systems (Print)  
Lane-level positioning and map matching are some of the biggest challenges for navigation systems. Additionally, in safety applications or in those with critical performance requirements (such as satellite-based electronic fee collection), integrity becomes a key word for the navigation community. In this scenario, it is clear that a navigation system that can operate at the lane level while providing integrity parameters that are capable of monitoring the quality of the solution can bring
more » ... tant benefits to these applications. This paper presents a pioneering novel solution to the problem of combined positioning and map matching with integrity provision at the lane level. The system under consideration hybridizes measurements from a Global Navigation Satellite System (GNSS) receiver, an odometer, and a gyroscope, along with the road information stored in enhanced digital maps, by means of a multiple-hypothesis particle-filter-based algorithm. A set of experiments in real environments in France and Germany shows the very good results obtained in terms of positioning, map matching, and integrity consistency, proving the feasibility of our proposal. Index Terms-Enhanced maps (Emaps), integrity provision, map matching, particle filter (PF), road vehicle navigation.
doi:10.1109/tits.2009.2031625 fatcat:lm776fkxabfizbifjgyrhu6dlm