ABM Musa
ABSTRACT
Sub-meter accurate vehicle localization is often the ultimate goal in the automotive industry as well as fleet management today and the Global Navigation Satellite System (GNSS) is one of the most practical ways to achieve this goal. In addition to precise navigation and real-time accurate vehicle location tracking, the high-accuracy location data enables many geospatial and mapping applications. Traditionally, high-accuracy GNSS localization solutions were highly expensive. However, we can now achieve high accuracy localization by combining GNSS and Inertial Measurement Unit (IMU) along with Real-Time Kinematic (RTK) correction at a high availability with low cost. In this paper, we present the evaluation and experimental results of such a solution that we are deploying in a large vehicle fleet. Our experiments show that sub-meter localization accuracy can be achieved in most scenarios. Additionally, we present various geospatial applications of the high-accuracy GPS trajectories, some of which were previously impossible with the data collected from low-accuracy consumer-grade sensors. Finally, we share a dataset with multiple GPS trajectories containing GNSS data from both our low-cost and ground-truth GNSS systems. We believe this dataset will enable further research on various applications of high-accuracy location data as well as GNSS characteristics in different areas.
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Cross Ref
- James Biagioni, ABM Musa, and Jakob Eriksson. 2013. Thrifty Tracking: Online GPS Tracking with Low Data Uplink Usage. In Proceedings of the 21st ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems (Orlando, Florida) (SIGSPATIAL'13). Association for Computing Machinery, New York, NY, USA, 496--499. Google ScholarDigital Library
- Elliott Kaplan and Christopher J. Hegarty. 2017. Understanding GPS/GNSS: Principles and Applications, Third Edition (3rd ed.). Artech House, Inc., USA.Google Scholar
- Miso Kim and Kwan-Dong Park. 2017. Development and Positioning Accuracy Assessment of Single-Frequency Precise Point Positioning Algorithms by Combining GPS Code-Pseudorange Measurements with Real-Time SSR Corrections. Sensors 17, 6 (2017). Google ScholarCross Ref
- Hongyang Ma, Qile Zhao, Sandra Verhagen, Dimitrios Psychas, and Xianglin Liu. 2020. Assessing the Performance of Multi-GNSS PPP-RTK in the Local Area. Remote Sensing 12, 20 (2020). Google ScholarCross Ref
- Paul Newson and John Krumm. 2009. Hidden Markov Map Matching through Noise and Sparseness. In Proceedings of the 17th ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems (Seattle, Washington) (GIS '09). Association for Computing Machinery, New York, NY, USA, 336--343. Google ScholarDigital Library
- Yifang Yin, Jagannadan Varadarajan, Guanfeng Wang, Xueou Wang, Dhruva Sahrawat, Roger Zimmermann, and See-Kiong Ng. 2020. A Multi-Task Learning Framework for Road Attribute Updating via Joint Analysis of Map Data and GPS Traces. Association for Computing Machinery, New York, NY, USA, 2662--2668. Google ScholarDigital Library
Index Terms
- High-accuracy GNSS localization with low-cost
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