Lane-level positioning for cooperative systems using EGNOS and enhanced digital maps

摘要

An algorithm capable to provide enhanced positioning that avoids drifts during outages of GPS signal has been presented. To achieve success, the combination of all the different sources of information, including a priori information, must be efficiently fused. The use of enhanced road maps (Emaps) is proposed in specific areas where precise positioning is expected. The data available in the Emap are fused with GNSS data, when available, and dead-reckoning data which could come from the vehicle sensors in the next future. The proposed filtering technique merges both localization and map-matching algorithms into a unique process, providing a directly map-matched solution consistent with the road geometry and topology.