高精地圖輔助車載衛星定位偵測與改善都市多路徑效應及NLOS誤差影響

隨著智慧運輸系統的發展，精確的位置資訊是實現自動駕駛車的核心議題之一。然而全球導航衛星系統在都市地區會因為密集複雜的大樓造成多路徑效應及非直線視距觀測（Non-Line-of-Sight, NLOS）現象，使定位精度不佳。本研究使用車載整合式定位定向系統建立模擬之高精地圖（HD Maps）作為參考資訊，用以偵測及剔除上述錯誤的定位解，同時反饋至高程約制系統提升三維精度。實驗使用商用接收機觀測全球導航衛星系統單頻電碼進行單點定位，成果顯示由高精地圖輔助可提升定位精度約66%，其中高程誤差近乎完全被消除。本研究可作為高精地圖導航應用之雛型，讓自動駕駛在都市更加穩健可行。

關鍵字

多路徑效應；非直線視距觀測量；高精地圖；全球導航衛星系統；都市地區

並列摘要

With the development of Intelligent Transport System (ITS), the precise position is one of the primary cores to achieve the autonomous driving vehicles. However, Global Navigation Satellite System (GNSS) would be affected in poor accuracy by changes in surrounding obstacles, which is well-known as the multipath interference and Non-Line-of-Sight (NLOS) reception in urban environments. This study uses the integrated vehicle navigation system to establish High Definition maps (HD Maps) as reference information to detect the positioning errors due to multipath or NLOS reception. Moreover, the correction can feedback to the navigation process by height constraints system. The experiment applies commercial satellite receiver to observe single-frequency GPS code for Single-Point Positioning (SPP) calculation. The results show that with the HD Maps aided, the positioning accuracy improves by about 66%, which the height error is almost mitigated. This research is the prototype of HD Maps aided navigation application, which can make the autonomous driving positioning system more robust and feasible in urban area.

並列關鍵字

Multipath interference ； Non-line-of-sight reception ； High Definition Maps ； Global Navigation Satellite System ； Urban area

國際替代計量

高精地圖輔助車載衛星定位偵測與改善都市多路徑效應及NLOS誤差影響

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