Version 1
: Received: 7 April 2024 / Approved: 8 April 2024 / Online: 8 April 2024 (11:29:44 CEST)
How to cite:
Zhang, H.; Zhang, X. Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Constraint. Preprints2024, 2024040530. https://doi.org/10.20944/preprints202404.0530.v1
Zhang, H.; Zhang, X. Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Constraint. Preprints 2024, 2024040530. https://doi.org/10.20944/preprints202404.0530.v1
Zhang, H.; Zhang, X. Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Constraint. Preprints2024, 2024040530. https://doi.org/10.20944/preprints202404.0530.v1
APA Style
Zhang, H., & Zhang, X. (2024). Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Constraint. Preprints. https://doi.org/10.20944/preprints202404.0530.v1
Chicago/Turabian Style
Zhang, H. and Xu Zhang. 2024 "Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Constraint" Preprints. https://doi.org/10.20944/preprints202404.0530.v1
Abstract
High-precision dynamic positioning of highway vehicles is the foundation and prerequisite for achieving intelligent connected transportation. For the shortcomings of GNSS/INS combination and GNSS/INS/OD combination in tunnel vehicle positioning, this paper proposes a tunnel vehi-cle positioning method of GNSS/INS/OD combination based on lateral distance measurement and lane constraint. Firstly, lateral distance measurement of vehicles inside the tunnel is conducted based on laser radar point cloud data. Secondly, map matching positioning is performed based on lateral distance measurement, odometer, and lane markings. Experimental results demonstrate that for a 4.6 km tunnel, the average absolute error of lateral positioning is 0.294 meters, and the longitudinal positioning error is no more than 0.6 meters, which can effectively meet practical operational requirements.
Keywords
GNSS/INS combination; GNSS/INS/OD combination; laser radar; lateral distance measurement; lane line constraint
Subject
Engineering, Transportation Science and Technology
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
