Method and Use of Aggregated Dead Reckoning Sensor and GPS Data For Map Matching

Bishnu P. Phuyal

Abstract:	There are three quantities determined in real time in a navigation system. Those are position and heading of a moving vehicle on the road and segment position on the road segment representing the current vehicle position. These quantities are required to be determined without discontinuity and uniform reliability to be useful to provide visual and other kinds of driving direction to the user of a navigation system. Existing methods using Kalman filter to integrate dead reckoning (DR) sensor position and heading and GPS position for optimal position have problem due to GPS data gaps and large multi-path errors when driven in urban environment. It cannot meet the required level of accuracy. Map matching technique is used to find the position on the segment from the dead reckoned position. Since dead reckoned position accuracy becomes unreliable due to the problems in the Kalman filter, the selection of correct segment and determining segment position are affected. As a result the uniform reliable requirement can remain unresolved. This situation is undesirable to the system developer and user. A novel method called Adaptive Segmentation Technique is used to aggregate data while vehicle is driven on the road in such a way that the aggregated data can depict the trajectory according to the vehicle maneuvers of straight, turning or their transition. These data are derived for small lengths to sufficiently maintain the vehicle maneuver and also make it simple and flexible to use them for a number of purposes. These data can be used for sensor parameter determination, GPS data validation and very flexible method of map matching and determine uniformly reliable segment position with accuracy of the order of 15 meters. The technique of using ATS data derivation and using them for map matching is described here.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	430 - 437
Cite this article:	Phuyal, Bishnu P., "Method and Use of Aggregated Dead Reckoning Sensor and GPS Data For Map Matching," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 430-437.
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