A new vehicle positioning system is proposed using unscented Kalman filter for the data fusion of global positioning system and inertial navigation system, and a multi-hypothesis algorithm for map matching. The study presents a method to evaluate whether the results of the multi-hypothesis map matching algorithm can be used for feedback, and a strategy to increase the positioning accuracy based on this feedback. As the number of hypothesis nodes in the multi-hypothesis map matching algorithm grows exponentially with time, which costs lots of computation time and memory, several methods are proposed to reduce the number of hypotheses nodes by improving the generation method of hypothesis nodes, pruning the branches of multi-hypothesis tree, eliminating and merging the redundant nodes. Field test results indicate that the system can achieve much higher accuracy with the feedback from map matching, and can greatly save the computation time and memory.
Vehicle positioning system with multi-hypothesis map matching and robust feedback
IET Intelligent Transport Systems ; 11 , 10 ; 649-658
2017-07-21
10 pages
Article (Journal)
Electronic Resource
English
global positioning system , unscented Kalman filter , hypothesis nodes generation method , road vehicles , Global Positioning System , inertial navigation system , redundant node elimination , sensor fusion , Kalman filters , inertial navigation , multihypothesis map matching , multihypothesis algorithm , positioning accuracy , multihypothesis tree branches , traffic engineering computing , redundant node merging , vehicle positioning system , data fusion , nonlinear filters , robust feedback
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