Abstract
This paper proposes a method for tight integration of kinematic precise point positioning (PPP) and digital map. The proposed method starts with PPP to estimate the vehicle position. PPP uses Global Positioning System observables, and precise orbit and clock products and additional error modelling to estimate the navigation solution. The estimated navigation solution is used as the input to the fuzzy logic based map matching (MM) algorithm. The proposed MM improves the kinematic PPP by constraining the vehicle location on the road, which provides the map-matched position and the road link azimuth as the feedback to the Kalman filter of PPP. The results indicate that a tight integration of digital map and kinematic PPP outperforms a stand-alone PPP and improves the horizontal root-mean-square error (RMSE) by 56.5% and 60.7% for the open sky and the harsh environment, respectively. Moreover, the float ambiguities can converge faster using this method.
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