Positioning Correction Algorithm of Vector Road Aided Inertial Navigation Based on the Rough/Fine Matching Method

• Main Authors: LI Xiang, HUA Yixin, ZHANG Hong, ZHANG Jiangshui
• Format: Article
• Language: zho
• Published: Surveying and Mapping Press 2017-08-01
• Series: Acta Geodaetica et Cartographica Sinica
• Subjects: rough/fine matching; vector road; trajectory feature; the feature label point; ICCP algorithm
• Online Access: http://html.rhhz.net/CHXB/html/2017-8-1034.htm

In the passive environment, accumulated positioning errors of the inertial navigation system (INS) could not be corrected by satellite navigation and positioning, a rough/fine matching method based on high-precision road data was proposed to adjust the vehicle trajectory data acquired by INS. Firstly, by analyzing the feature label point and its minimum bounding rectangle in inertial trajectory, the obvious error matching road and redundant road could be eliminated and the candidate matching road sets could be captured. Then, with the advantages of high precision and stable matching result, the ICCP algorithm was built to compensate and correct the positioning errors caused by INS. Finally, the matching variance and history matching results could be used to judge whether the matching results were correct. Simulation results illustrated that this method could improve the correction accuracy and reduce the false matching results in the complex road intersections.