A Map Aided Localization System for Safety-relevant Automotive Assistance Systems

Tobias Scheide and Peter Hecker

Abstract:	This paper presents three different map aiding strategies to increase the accuracy of an Extended Kalman Filter based positioning system for road vehicles. For this a lane level map was created and a map matching concept implemented. The map information is used to update the Kalman Filter state vector for height and heading. By the use of map matched data a loop will be closed. To avoid a corruption of the fusion by this loop, the use of map information must be conservative. Also map positions are used for a cross check with a computed multiple solution set. Therefore, several GPS Weighted Least Square (WLSQ) solutions are calculated by excluding one satellite at a time. This set is cross checked with map positons to reduce specific errors. To understand the integration, the fusion algorithm is described. In a further step integration of the enhancement is figured out. All concepts are evaluated with recorded data from a test drive. By the use of a reference system the benefit of each enhancement will be discussed.
Published in:	Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014) September 8 - 12, 2014 Tampa Convention Center Tampa, Florida
Pages:	1847 - 1854
Cite this article:	Scheide, Tobias, Hecker, Peter, "A Map Aided Localization System for Safety-relevant Automotive Assistance Systems," Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 1847-1854.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In