Study of Tunnel Vehicle GNSS/INS/OD Combination Position Based on Lateral Distance Measurement and Lane Constraint
Hongbin Zhang,
Xu Zhang
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. Second… Show more
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