Department of Electrical and Electronic Engineering, Yonsei University, Seoul 03722, Korea.
Department of Electronic Engineering, Kyonggi University, Suwon 16227, Kyonggi-Do, Korea.
Sensors (Basel). 2018 Nov 8;18(11):3836. doi: 10.3390/s18113836.
This paper proposes a real-time position accuracy improvement method for a low-cost global positioning system (GPS), which uses geographic data for forming a digital road database in the digital map information. We link the vehicle's location to the position on the digital map using the map-matching algorithm to improve the position accuracy. In the proposed method, we can distinguish the vehicle direction on the road and enhance the horizontal accuracy using the geographic data composed of the vector point set of the digital map. We use the iterative closest point (ICP) algorithm that calculates the rotation matrix and the translation vector to compensate for the disparity between the GPS and the digital map information. We also use the least squares method to correct the error caused by the rotation of the ICP algorithm and link on the digital map to eliminate the residual disparity. Finally, we implement the proposed method in real time with a low-cost embedded system and demonstrate the effectiveness of the proposed method through various experiments.
本文提出了一种利用地理数据在数字地图信息中构建数字道路数据库的低成本全球定位系统 (GPS) 实时位置精度改进方法。我们使用地图匹配算法将车辆的位置与数字地图上的位置联系起来，以提高位置精度。在提出的方法中，我们可以利用数字地图的矢量点集组成的地理数据来区分道路上的车辆方向，并提高水平精度。我们使用迭代最近点 (ICP) 算法计算旋转矩阵和平移向量，以补偿 GPS 和数字地图信息之间的差异。我们还使用最小二乘法校正 ICP 算法旋转引起的误差，并在数字地图上链接以消除剩余差异。最后，我们使用低成本嵌入式系统实时实现了所提出的方法，并通过各种实验证明了该方法的有效性。
