Road Navigation System Monitoring Using a Pseudorange Snapshot Test

Clément Fouque (1) , Philippe Bonnifait (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

Global Navigation Satellite Systems (GNSS) are often used to localize a receiver with respect to a given map. This association problem, also known as map-matching, is usually addressed using estimated positions computed by the GNSS receiver. This paper focus on the use of GNSS raw data (L1 pseudo-measurements) and cartographic data provided by a digital road network. Using the positioning residuals of map-aided GNSS, a new method for tackling the underlying problem of the road selection is proposed. This paper show that this approach is also well adapted to integrity problem of map-matching, since a consistency test is derived. Experimental results illustrate the performance of this method with different maps.

Domaines: Automatique / Robotique

Clément Fouque, Philippe Bonnifait. Road Navigation System Monitoring Using a Pseudorange Snapshot Test. IFAC World Congress, 2008, Seoul, South Korea. pp.1, ⟨10.3182/20080706-5-KR-1001.4184⟩. ⟨hal-00445279⟩