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An enhanced positioning algorithm module for low-cost GNSS/MEMS integration based on matching straight lane lines in HD maps

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Abstract

Automated driving technology relies heavily on continuous, high-precision, and high-reliability positioning in complex urban situations. With the mass production of autonomous vehicles, the issue of keeping equipment as cheap as possible while maintaining precision is getting much attention. The low-cost global navigation satellite system (GNSS)/micro-electro-mechanical system (MEMS) integrated navigation system, as the mainstream solution, is often faced with MEMS dead-reckoning rapid divergence during GNSS outages. Meanwhile, the high-definition maps (HD maps), as the positioning resource which stores the absolute coordinate information, cover urban roads more and more perfectly. In this case, we propose a method to enhance low-cost GNSS/MEMS integrated positioning by using a monocular camera and straight lane lines in HD maps. The positioning results are corrected by projecting lanes from OpenDRIVE maps onto the image, matching them with the visually detected ones, and minimizing the reprojected linear coefficients residuals. The algorithm can be embedded into GNSS/MEMS integrated navigation system as a module without breaking the architecture and increasing the cost. The feasibility and influencing factors were analyzed in simulation and field experiments. The tests demonstrate that positions in the lateral and up directions can be corrected to within 10 cm under current HD maps accuracy. Moreover, it is not seriously limited by the initial pose error, the number of lanes, and the road flatness. The results indicate that the lane coefficients-based algorithm is a potential module for enhancing the low-cost GNSS/MEMS integrated positioning performance.

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The data used in this manuscript are available from the corresponding author upon request.

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Acknowledgements

This work was supported by the National Key Research and Development Program of China (Grant No. 2020YFB0505803), the National Natural Science Foundation of China (Grant No. 42104021), the Science and Technology Major Project of Hubei Province (Grant No. 2021AAA010), and the Special Fund of Hubei Luojia Laboratory(220100005).

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Authors and Affiliations

  1. School of Geodesy and Geomatics, Wuhan University, 129 Luoyu Road, Wuhan, 430079, Hubei, China

    Qingxu Xu, Feng Zhu, Jie Hu, Wanke Liu & Xiaohong Zhang

  2. Key Laboratory of Geospace Environment and Geodesy, Ministry of Education, Wuhan University, 129 Luoyu Road, Wuhan, 430079, Hubei, China

    Wanke Liu & Xiaohong Zhang

  3. Hubei Luojia Laboratory, 129 Luoyu Road, Wuhan, 430079, Hubei, China

    Feng Zhu & Xiaohong Zhang

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  1. Qingxu Xu
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  2. Feng Zhu
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  3. Jie Hu
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  4. Wanke Liu
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  5. Xiaohong Zhang
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Correspondence to Feng Zhu.

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Xu, Q., Zhu, F., Hu, J. et al. An enhanced positioning algorithm module for low-cost GNSS/MEMS integration based on matching straight lane lines in HD maps. GPS Solut 27, 22 (2023). https://doi.org/10.1007/s10291-022-01362-9

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