Abstract
GPS signals are not reliable in urban canyons or inside tunnels. In those situations, accurate local positioning is possible through local landmarks. This paper presents the potential accuracy of such a landmark-based local positioning system and the desired attributes of landmarks influencing positioning accuracy. The analysis of the achievable accuracy and the sensitivity of the factors for precise vehicle positioning is performed using LiDAR sensor measurements in a controlled environment and a generic positioning method. The landmark-based positioning can achieve better than 0.2 m accuracy. The diameter and geometric configuration of the landmarks are the most important factors for higher accuracy. The results presented can guide the design and construction of a local positioning system in urban areas.
Highlights
Position accuracy is critical for safe and reliable automated driving
Positioning for ground vehicles is usually done through a Global Navigation Satellite System (GNSS), which provides global geospatial position information through one or more constellations of satellites
We reviewed the methods of both groups for analyzing the potential accuracy associated with the landmark attribute and the connection between the performance of each method and final positioning accuracy
Summary
Position accuracy is critical for safe and reliable automated driving. Positioning for ground vehicles is usually done through a Global Navigation Satellite System (GNSS), which provides global geospatial position information through one or more constellations of satellites. The main drawback is that buildings or tunnels block signals from the satellites. Under these situations, GNSS/GPS sensors may give positions that suddenly jump or provide no output at all [1], [2]. The accuracy of GPS depends on the number and geometry of satellites, signal blockage, clock drift, atmospheric conditions, and receiver features/quality. Differential GPS provides positional corrections using a fixed base station with known positions and can be achieved sub-meter accuracy. Real-Time Kinematic (RTK) positioning corrects GPS signals using the measured phase of the carrier wave of signal, providing centimeter-level accuracy [3]–[5]. In between GPS measurements, smooth and accurate position extrapolation can be achieved using inertial sensors [6], [7].
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