Fusion of GPS and odometer measurements for map-based vehicle navigation

We present in this paper a method for land-vehicle navigation which fuses GPS and odometer (differential odometry) measurements. The positioning is also corrected with road map information. The map is here modelled as a sensor which delivers the node location and the road bearing. This equation allows a direct modelling of the map errors that can be embedded in the filter. The sensor equation is initialized by a matching procedure that uses the Mahalanobis metric as a statistical distance criterium. Hence, the filter that fuses the whole measurements (GPS, odometer, map), has a centralized fusion scheme in which each measurement are sequentially processed. The method is then applied to a transport network scenario in presence of GPS outages in order to study the stability of the method and show the accuracy with the map corrections.

[1]  George E. Taylor,et al.  Modular neural networks for map-matched GPS positioning , 2003, Fourth International Conference on Web Information Systems Engineering Workshops, 2003. Proceedings..

[2]  Yaakov Bar-Shalom,et al.  Estimation and Tracking: Principles, Techniques, and Software , 1993 .

[3]  Washington Y. Ochieng,et al.  A general map matching algorithm for transport telematics applications , 2003 .

[4]  Elliott D. Kaplan.  Understanding GPS : principles and applications , 1996 .

[5]  Tae Kyung Sung,et al.  A Decoupled GPS/DR Integration Kalman Filter utilizing Carrier Measurements , 1999 .

[6]  D. Powell,et al.  Land-vehicle navigation using GPS , 1999, Proc. IEEE.

[7]  J. Greenfeld.  MATCHING GPS OBSERVATIONS TO LOCATIONS ON A DIGITAL MAP , 2002 .

[8]  K. Lakakis,et al.  Quality of Map-Matching Procedures Based on DGPS and Stand-Alone GPS Positioning in an Urban Area , 2004 .

[9]  Rachid Deriche,et al.  Tracking line segments , 1990, Image Vis. Comput..

[10]  Adrijana Car,et al.  Road Reduction Filtering for GPS‐GIS Navigation , 2001, Trans. GIS.

[11]  Maan El Badaoui El Najjar,et al.  A Road-Matching Method for Precise Vehicle Localization Using Belief Theory and Kalman Filtering , 2005, Auton. Robots.

[12]  David Bernstein,et al.  Some map matching algorithms for personal navigation assistants , 2000 .

[13]  W. Ochieng,et al.  An Extended Kalman Filter Algorithm for Integrating GPS and Low Cost Dead Reckoning System Data for Vehicle Performance and Emissions Monitoring , 2003 .

[14]  Yilin Zhao,et al.  Vehicle Location And Navigation Systems , 1997 .