Lane-level Positioning Method Based on 3D Map for Vehicle Navigation System with Single GPS

摘要

With the development of hardware for on-board navigation equipment, more and more functions such as 3D map route guidance are applied for assisting driving. It is difficult to realize lane-level route guidance because of the accuracy of single GPS receiver. On the basis of modeling of 3D digital maps, a lane-level positioning method was presented combined with virtual differential GPS with a single GPS receiver, height aiding, and collision detecting technique in this paper. The process of map matching was divided into two steps in order to get lane-level position. At the first step, the single GPS parameters were amended through virtual differential technology and height aiding technology in order to improve the precision. Then a method of lane-level map matching was implemented in 3D digital map based on the collision detection technology. Tested by DGPS data, the method was proven to fulfill the demands of vehicle navigation systems.