Application of Particle Filters for Vehicle Positioning using Road Maps
Pavel Davidson, Jussi Collin, John F. Raquet, Jarmo Takala · 2010
This paper presents a numerical approach to the mapmatching problem. The proposed solution is based on a sequential Monte Carlo method, so called particle filtering. This algorithm can be adapted for implementation on real-time car navigation systems using a low-cost MEMS heading rate sensor and standard vehicle speed sensor installed in the car as dead-reckoning sensors. The algorithm reliability and accuracy performance was investigated using simulated data and data from real-world driving tests in urban environment. The tests show that this map-aided dead reckoning system is able to provide accurate vehicle positioning for long periods of time without using GPS data.