On the use of map data in GPS computation

In this video, we present a data fusion strategy relying principally on DR under the hypothesis that the DR performances are very good. When the localizer is tracking the pose, the map and the GPS observations are considered as doubtful. They are involved in the localisation process when they are consistent with the DR pose. This is carried out using integrity Chi-Square checks on innovations signals. When the vehicle approaches an ambiguity zone (detected thanks to the connectivity information of the map), the map information is not taken into account. If the map outage is too long, GPS data is also forgotten since it is not possible to detect signal propagation troubles. When leaving the ambiguity zone, the complete tracking starts again and checks the integrity of all the available information. In practice, we have developed a tightly-coupled Kalman filter which switches between the different observations modes.

Category:

Science & Technology

Tags:

• GPS
• GIS
• map-matching
• integrity
• thightly
• coupled
• localization
• intelligent
• vehicle