Ramp Recognition Method with Low Cost Accelerometer in Vehicle Navigation

摘要

The existing vehicle navigation systems can hardly provide accurate positions in overpasses or viaduc:ts since the roads may lie closely to each other and the navigation systems usually perform positioning and map-matching in the horizontal plane.To solve the problem,we developed a ramp recognition method to help determine the vehicle travelling road.By using a low cost accelerometer aiding the traditional GPS navigation system,the slope angle of the vehicle travelling road can be estimated.Then the ramp feature of the road is calculated,and the ramp pattern is recognized.The pattern recognition result can help the navigation system distinguish the vehicle traveling road from adjacent roads.Using the data from real vehicle tests,the experiment results show that the method can effectively improve the navigation accuracy in complex urban road conditions,especially in overpasses and viaducts.