This paper presents three different map aiding strategies to increase the accuracy of an Extended Kalman Filter based positioning system for road vehicles. For this a lane level map was created and a map matching concept implemented. The map information is used to update the Kalman Filter state vector for height and heading. By the use of map matched data a loop will be closed. To avoid a corruption of the fusion by this loop, the use of map information must be conservative. Also map positions are used for a cross check with a computed multiple solution set. Therefore, several GPS Weighted Least Square (WLSQ) solutions are calculated by excluding one satellite at a time. This set is cross checked with map positions to reduce specific errors. To understand the integration, the fusion algorithm is described. In a further step integration of the enhancement is figured out. All concepts are evaluated with recorded data from a test drive. By the use of a reference system the benefit of each enhancement will be discussed.
A Map Aided Localization System for Safety-Relevant Automotive Assistance Systems
2014
8 Seiten, Bilder, Tabellen, 12 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
A GPS/Galileo Tightly-coupled Localization System for Safety-relevant Automotive Assistance Systems
British Library Conference Proceedings | 2011
|Safety relevant microsystems for automotive applications
Tema Archiv | 2001
|A design methodology for safety-relevant automotive electronic systems
Kraftfahrwesen | 2004
|A Design Methodology for Safety-Relevant Automotive Electronic Systems
SAE Technical Papers | 2004
|