Landmark Attribute Analysis for a High-Precision Landmark-Based Local Positioning System

IEEE Access

Juhui Gim¹  Huie Peng¹  Changsun Ahn² 

[1] Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA;School of Mechanical Engineering, Pusan National University, Busan, South Korea;

关键词: Automated vehicles;    LiDAR;    local positioning system;    landmark characteristic;    landmark configuration;   

DOI  :  10.1109/ACCESS.2021.3053214

来源: DOAJ

【 摘 要 】

GPS signals are not reliable in urban canyons or inside tunnels. In those situations, accurate local positioning is possible through local landmarks. This paper presents the potential accuracy of such a landmark-based local positioning system and the desired attributes of landmarks influencing positioning accuracy. The analysis of the achievable accuracy and the sensitivity of the factors for precise vehicle positioning is performed using LiDAR sensor measurements in a controlled environment and a generic positioning method. The landmark-based positioning can achieve better than 0.2 m accuracy. The diameter and geometric configuration of the landmarks are the most important factors for higher accuracy. The results presented can guide the design and construction of a local positioning system in urban areas.

【 授权许可】

Unknown