Vehicle localization in urban canyons using geo-referenced data and few GNSS satellites. - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2007

Vehicle localization in urban canyons using geo-referenced data and few GNSS satellites.

Résumé

Stand-alone Global Navigation Satellites System (GNSS) can provide a very accurate real-time positioning in good visibilty and signals conditions. Unfortunately, for a vehicle evolving in urban areas, those conditions are rarely satisfied, leading to debased computed location or lack of solution if less than four SVs are visible. A way to tackle such a problem can consist in fusing the raw measurement from the GNSS reciever with others data sources like proprioceptives sensors. In this paper, the use for computation fix of a priori charted road network data managed by a Geographical Information System (GIS) is presented. Geo-referenced data are modeled as segments that can be used as constraints or fused with the pseudo-ranges. Using the residuals, a new method for treating the underlying problem of road selection is proposed. Experimental results illustrate the interesting performance of this approach since the map-matched location can be computed using only 3 satellites and a usual 2D map in urban canyons.
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Dates et versions

hal-00445268 , version 1 (08-01-2010)

Identifiants

  • HAL Id : hal-00445268 , version 1

Citer

Clément Fouque, Philippe Bonnifait. Vehicle localization in urban canyons using geo-referenced data and few GNSS satellites.. IFAC Symposium on Intelligent Autonomous Vehicle, 2007, Toulouse, France. pp.84. ⟨hal-00445268⟩
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