Authors: C. Fouque, Ph. Bonnifait
Addresses: Heudiasyc UMR CNRS 6599, Universite de Technologie de Compiegne, Centre de recherche de Royallieu, BP20529, 60205 Compiegne, Cedex, France. ' Heudiasyc UMR CNRS 6599, Universite de Technologie de Compiegne, Centre de recherche de Royallieu, BP20529, 60205 Compiegne, Cedex, France
Abstract: Global Navigation Satellite Systems (GNSS) are often used to localise a receiver with respect to a given map. This association problem, also known as map-matching, is usually addressed using estimated positions computed by the GNSS receiver. In this paper we propose a method that combines the cartographic data in the GNSS computation fix itself. We focus on the use of a road network provided by cartographers such as NavTeQ or TeleAtlas. Geo-referenced data is modelled by segments that can be used as constraints or fused with the pseudo-ranges. Using residuals, a new method for tackling the underlying problem of the road selection is proposed. We show that this approach is also well adapted to the integrity problem of map-matching, since a consistency test is derived. Experimental results illustrate the performance of this method with different maps.
Keywords: outdoor localisation; global navigation satellite systems; GNSS; GIS data; tightly coupled data fusion; integrity monitoring; geographic information systems; map matching; road networks; road selection.
International Journal of Intelligent Information and Database Systems, 2008 Vol.2 No.2, pp.167 - 186
Published online: 13 May 2008 *Full-text access for editors Access for subscribers Purchase this article Comment on this article