基于Kalman滤波的地图匹配方法

Map Matching Method by Kalman Filter

地图匹配方法利用电子地图的地理数据对GPS定位数据进行校正,可有效提高定位数据的精度。本文首先采用最近点估计方法计算道路垂直方向的GPS误差,对该误差采用Kalman滤波方法获得GPS偏差估计,以此偏差估计修正GPS测量值并进行地图匹配。实验表明利用该方法可将定位数据准确地匹配到道路上,使匹配后的定位精度得到提高。

Map matching is used in GPS position data correction by geo-information of electronic map, which can effectively improve the position precision. In this paper, Nearest Point Estimate （NPE） is firstly used to calculate the GPS errors in road vertical orientation. GPS biased estimate, which is applied to correct the GPS measurement values in map matching, can then be calculated through this GPS errors by a Kalman filter. Experiments shows that position data are accurately match with the road according to this method, and the position precision is improved after the map matching.