Positioning Using GNSS Signals and Digital Maps
M. imandl, I. Punčochř, J. kach · 2013
The paper deals with map-aided GNSS positioning. The models for measurement of GNSS signals and digital maps are described and the positioning problem is formulated as an optimization problem with constraints. Two methods of constrained state estimation are discussed and the improvement in the quality of the position estimate when a map is used is demonstrated.