Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Line Constraint
Source abstract
Abstract
The high-precision dynamic positioning of highway vehicles is the foundation and prerequisite for achieving intelligent connected transportation. To address the shortcomings of the GNSS/INS combination and GNSS/INS/OD combination in tunnel vehicle positioning, this paper proposes a tunnel vehicle positioning method for the GNSS/INS/OD combination based on lateral distance measurements and lane constraints. Firstly, a lateral distance measurement of vehicles inside the tunnel is conducted based on laser radar point cloud data. Secondly, map matching positioning is performed based on lateral distance measurements, odometer, and lane markings. Experimental results demonstrate that, for a 4.6 km tunnel, the average absolute error in the lateral positioning is 0.294 m, and the longitudinal positioning error is no more than 0.6 m, which can effectively meet practical operational requirements.
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Research context
OpenAlex topics: Traffic Prediction and Management Techniques · Target Tracking and Data Fusion in Sensor Networks · Evaluation Methods in Various Fields
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Transportation, Southeast University, Nanjing 210018, China
Bartlett School of Architecture, University College London, London WC1E 6BT, UK
References (24)
Show source-provided references
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