|Title:||Uncertainty-based map matching for land vehicle navigation|
|Subject:||Global Positioning System.|
Inertial navigation systems.
Hong Kong Polytechnic University -- Dissertations
|Department:||Department of Land Surveying and Geo-Informatics|
|Pages:||vi, 65 p. : ill. ; 30 cm.|
|Abstract:||GPS/INS vehicle navigation based on map information is affected by two kinds of errors, positioning errors and digital map uncertainties. In current vehicle navigation applications, however, positioning errors are only considered. Road network information, naturally is supposed to be free from errors. In this paper, the G-band model is employed to describe the uncertainty of the line segment of digital map. Kalman filter and adaptive Kalman filter are applied for position estimation and prediction. Both confidence regions of position coordinates and line segments are combined with other criteria to identify the road segments as the vehicle move along the route. Weight of group points is proposed as a criterion to aid map matching. A vehicle navigation example using GPS/INS sensors and map matching is conducted in the Hong Kong area, by using three different approaches. The results show that the proposed algorithm combines G-band model of the road segments, weights of group of position points, vehicle heading information and road connections between links are very effective in map matching.|
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