1P1-B10 屋外環境下で用いる自律移動システムに関する研究 : 第57報 GPS衛星不可視環境下における道路地物の測量値を用いた位置補正手法の評価

概要

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In these days, the next generation digital road map (DRM) is expected to one of the method to achieve detailed navigation and driving safety assistance. Also, Mobile Mapping System (MMS) is getting attention as effective method to generate the next DRM. The MMS consists of a GPS/IMU combined navigation system, cameras and laser scanners on the top of the vehicle. Though the MMS can measure road environment accurately and efficiently in open sky condition, the positioning accuracy is reduced in GPS blockage conditions. Thus, we proposed a positioning correction method in GPS blockage conditions that using a landmark which is pre-surveyed by conventional method. We carried out field test and its effectiveness is confirmed. The positioning accuracy is improved with the increased number of landmark observations, but the survey cost becomes high as the number of landmarks is increased. Therefore, in this paper we simulated without GPS conditions and evaluate the proposed positioning performance and the optimum landmark distance.