摘要
提出了一种DR/MM组合定位新方法。采用D-S证据理论在候选路段中选择最匹配的路段进行地图匹配,利用误差概率准则计算地图匹配观测噪声,使得沿道路纵向的地图匹配噪声可观测。在此基础上建立卡尔曼滤波方程,以DR定位与地图匹配的误差为观测值,估计DR定位误差。在地图匹配结果具有较高可信度时,估计的状态反馈修正DR方程。离线试验结果表明,提出的方法显著改善了DR定位精度。
A novel method for DR/MM positioning is proposed. Map matching is implemented by using D-S evidence theory to select the best matching road segment from candidate pool. Error probability criterion is used to compute observation noise of map matching for making the noise of map matching observable along the longitudinal direction of the road. Based on this, a kalman filtering equation is established. By observing errors between DR positioning and map matching , errors in DR positioning are estimated. When the result of map matching is highly reliable, the estimated states of kalman filter are fedback for correcting DR equation. The results of an off-line test verified that the proposed method markedly improve the accuracy of DR positioning.
出处
《汽车工程》
EI
CSCD
北大核心
2008年第4期364-367,375,共5页
Automotive Engineering
