Accuracy analysis of BeiDou receivers for lane detection applications

摘要

The future of Intelligent Transportation Systems (ITS) relies on a properly constructed Control Transportation System (CTS) based on a dynamically accurate localisation system. In urban scenarios applications for lane detection, as part of intelligent highways, Global Navigation Satellite Systems (GNSS) receivers provide tangential and perpendicular locations for localisation systems, by means of trueness and precision in the dynamic frame of the lane. Results show that the circular error probable (CEP) approach is not a realistic representation of the dynamic behaviour of the receivers, so the new Mahalanobis Ellipses Filter (MEF) approach was tested and proven to be a better dynamic accuracy representation for ground vehicles. Also, the MEF results from collected data in urban scenarios in Beijing's 3rd Ring Road present a significant representation of the potential applications for the several GNSS configuration tested, proving that a Multi-GNSS configuration can already properly work for lane detection applications. Conclusively, the results presented here show the MEF approach to be significantly better to test and validate lane detection applications. The separation into tangential and perpendicular deviations components allows a better technique to achieve the accuracy requirements description, for GNSS-based urban ground vehicle localisation system within a safety-relevant ITS.