A constrained SLAM approach to robust and accurate localisation of autonomous ground vehicles
Robotics and Autonomous Systems
In-car positioning and navigation technologies: a survey
IEEE Transactions on Intelligent Transportation Systems
A solution to the ill-conditioned GPS positioning problem in an urban environment
IEEE Transactions on Intelligent Transportation Systems
IMM-based lane-change prediction in highways with low-cost GPS/INS
IEEE Transactions on Intelligent Transportation Systems
Particle filters for positioning, navigation, and tracking
IEEE Transactions on Signal Processing
Lane keeping based on location technology
IEEE Transactions on Intelligent Transportation Systems
High-Integrity IMM-EKF-Based Road Vehicle Navigation With Low-Cost GPS/SBAS/INS
IEEE Transactions on Intelligent Transportation Systems
Computers and Electrical Engineering
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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 important 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.