Application of Particle Filters for Vehicle Positioning using Road Maps

P. Davidson, J. Collin, J. Raquet, J. Takala

Abstract:	This paper presents a numerical approach to the mapmatching problem. The proposed solution is based on a sequential Monte Carlo method, so called particle filtering. This algorithm can be adapted for implementation on real-time car navigation systems using a low-cost MEMS heading rate sensor and standard vehicle speed sensor installed in the car as dead-reckoning sensors. The algorithm reliability and accuracy performance was investigated using simulated data and data from real-world driving tests in urban environment. The tests show that this map-aided dead reckoning system is able to provide accurate vehicle positioning for long periods of time without using GPS data.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	1653 - 1661
Cite this article:	Davidson, P., Collin, J., Raquet, J., Takala, J., "Application of Particle Filters for Vehicle Positioning using Road Maps," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 1653-1661.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In