Showing papers on "Map matching published in 2000"

Some map matching algorithms for personal navigation assistants

Abstract: Third-generation personal navigation assistants (PNAs) (i.e., those that provide a map, the user's current location, and directions) must be able to reconcile the user's location with the underlying map. This process is known as map matching. Most existing research has focused on map matching when both the user's location and the map are known with a high degree of accuracy. However, there are many situations in which this is unlikely to be the case. Hence, this paper considers map matching algorithms that can be used to reconcile inaccurate locational data with an inaccurate map/network.

Method and system of providing navigation services to cellular phone devices from a server

Abstract: A method and system for providing navigation services to portable communications devices, such as cellular phones. A cellular phone user uses a cellular phone to request navigation services. The cellular phone is located in a geographic area that has a cellular phone location determining system that determines the positions of cellular phones used throughout the area. The cellular phone location determining system is used to determine one or more locations of the cellular phone used to request the navigation services. A map matching program uses a map database that contains data indicating the locations of roads located throughout the geographic area to relate the position of the cellular phone to one or more roads. Optionally, a direction of travel of the cellular phone can be determined by the map matching program using data indicating multiple positions of the cellular phone over time. Data indicating the position with respect to roads located in the geographic area of the cellular phone used to request the navigation services is combined with the request for navigation services at a navigation services server. The navigation services server determines a response to the request for navigation services taking into account the location and/or direction of travel of the cellular phone.

Landmark-based Matching Algorithm for Cooperative Mapping by Autonomous Robots

Abstract: This paper describes a landmark-based algorithm for map matching, and demonstrates its use in efficiently combining topological maps of indoor environments built by autonomous mobile robots. Results of the first implementation are presented, in which two robots with different mechanics and sensory capabilities independently explore their environments with no a priori maps. Each robot is initially unaware of the other’s relative position and orientation. Using the match algorithm, they eventually merge their maps into a topologically correct single map in real time, based only on the feature sets they have discovered independently.

A map matching approach for train positioning. I. Development and analysis

Abstract: This paper is devoted to the development of a map matching algorithm for a train positioning system. Due to the nonsteerable truck design associated with rail vehicles, rail track curvatures are reasonably small. Consequently, track signatures, such as curves, are difficult to identify using low-cost sensors. The algorithm proposed in this work takes full advantage of the inherited "one-dimensional" (1-D) train track profile. The core of this algorithm is correlating angular rate extracted from the map database to their corresponding measurements sensed by the yaw gyro and tachometer located on board the vehicle. The sensor fusion required consists of a yaw gyro and any speed sensor or odometer.

Navigation device and method of use having two separate route searching devices

Abstract: A route search location determining section (12 d) of a mobile body (10) decides whether to conduct a route search at the mobile body (10) or to request the route search to an information center (30) based on various conditions such as priorities and how old the map data version is. In this manner, effective search can be conducted using two distinct route searching devices. Also, a current position calculating section (12 a) can execute map matching by adding route data obtained from the information center (30) as a map matching candidate.

A map matching approach for train positioning. II. Application and experimentation

Abstract: For pt.I see ibid., vol.49, no.2, p.467-75 (2000). In this paper, applications of the map matching algorithm proposed in part I are presented. In particular, steady-state Kalman filters are proposed and applied for filtering the yaw rate and tachometer signals. In addition, experimental results, using a quartz yaw rate sensor and axle encoders aboard a freight train, are included to show the performance of the proposed map matching algorithm.

Vehicle navigation system with correction for selective availability

Abstract: A navigation system provides for correction for the selective availabitily GPS errors based upon information from other systems, such as map matching and dead reckoning Based upon the information from the other systems, the navigation system can determine the error in GPS solution These errors and corrections are utilized by the navigation system to propagate vehicle position for a limited time after they are determined

Car navigation system

Abstract: PROBLEM TO BE SOLVED: To provide a car navigation system which can switch the execution of map matching processing and its interruption without the necessity for operation while reducing load of a crew. SOLUTION: By the use of switch group 7 or remote controller 13, an interruption area is set as arbitrary area in which map matching processing should be stopped. When a car advances into the interruption area, map matching processing is interrupted, and when it leaves the interruption ares, map matching processing is executed. For instance, since the interruption area can be set beforehand, in case of mode transition from execution of map matching to its interruption, or in reverse case, any operation is not needed for the mode switching, so that the load of a car driving crew is reduced greatly. COPYRIGHT: (C)2005,JPO&NCIPI

Road Maintenance Vehicles Location using DGPS, Map-Matching and Dead-Reckoning: Experimental Results of a Smoothed EKF

Abstract: This paper presents a technique to localize outdoors vehicles equipped with a differential GPS receiver, an encoder attached to the wheels and a fiber optic gyrometer. As a precise location is not necessary in realtime for the application considered, the data of the sensors are stored on a computer, while the vehicle is moving, and fused afterwards. Different smoothing techniques are presented and discussed. Thanks to extensive real experiments with many masks of the satellites, a smoother has been validated in comparison with a Post-Processed Kinematic GPS. If the duration of the masks becomes too large, a method which uses a precise digital road map and a Geographical Information System is presented and validated with real data.

Method and system of providing navigation services to portable communication devices

Abstract: A method and system for providing navigation services to portable communications devices, such as cellular phones. A cellular phone user uses a cellular phone to request navigation services. The cellular phone is located in a geographic area that has a cellular phone location determining system that determines the positions of cellular phones used throughout the area. The cellular phone location determining system is used to determine one or more locations of the cellular phone used to request the navigation services. A map matching program uses a map database that contains data indicating the locations of roads located throughout the geographic area to relate the position of the cellular phone to one or more roads. Optionally, a direction of travel of the cellular phone can be determined by the map matching program using data indicating multiple positions of the cellular phone over time. Data indicating the position with respect to roads located in the geographic area of the cellular phone used to request the navigation services is combined with the request for navigation services at a navigation services server. The navigation services server determines a response to the request for navigation services taking into account the location and/or direction of travel of the cellular phone.

Navigation system, map matching method and recording medium

Abstract: PROBLEM TO BE SOLVED: To provide a navigation system capable of adequately correcting the own vehicle position on a running road. SOLUTION: GPS unit 14 acquires the present position of own vehicle according to received satellite radio waves. An image pickup unit 3 takes the surface images of the own vehicle running road one after another, including white lines. A white line monitor 17 measures the distance of the white line spacing according to the road surface image photographed by the pickup unit 3, and determines that the running load is of an expressway or public road type according to the measured distance. CPU 16 identifies the running road from map information stored on a disc according to the road type determined by the white line monitor 17, and corrects the present position acquired by the GPS unit 14. A monitor 2 displays a combined symbol mark showing the corrected present position on a map image according to the map information. COPYRIGHT: (C)2001,JPO

Leistungsfähigkeit fahrzeugautonomer Ortungsverfahren auf der Basis von Map-Matching-Techniken

Abstract: Autonome Fahrzeugnavigationssysteme, die die gesamte Ortungssensorik und das auf CD gespeicherte Strasennetz im Fahrzeug mitfuhren, erfordern die strasengenaue Kenntnis der Fahrzeugposition auf dem Strasennetz. Der logische Bezug zwischen Fahrzeugposition und digitaler Karte wird durch eine Karteneinpassung (map matching) hergestellt. Die beschrankte Verfugbarkeit der Satellitenverfahren in bebauten Gebieten, Reifenschlupf und die ungunstige Fehlerfortpflanzung der Koppelortung fuhren immer wieder zu Ortungsverlusten. Abhilfe soll durch eine Karteneinpassung geschaffen werden, die das typische Fehlerverhalten der Sensoren kompensiert. Mit den Fehlermodellen fur die Sensoren Odometer (Radsensor), Magnetfeldsonde, Kreisel, Beschleunigungsmesser, GPS und DGPS werden funf Verfahren zur Karteneinpassung entwickelt, die im Krummungsbild, im Winkelbild oder mit ebenen Koordinaten angesetzt werden. Mit Simulationen fur die Sensorsysteme Kreisel/Odometer und Kreisel/Beschleunigungsmesser und realen Messungen mit GPS, DGPS, Kreisel und Radsensoren werden diese funf Verfahren hinsichtlich Empfindlichkeit auf Sensorfehler, Genauigkeit und Zuverlassigkeit bei der Trassenidentifikation analysiert und bewertet. D/GPS Abschattungen erfordern eine Stutzung durch Radsensoren. Messungen mit den Sensorkombinationen Kreisel mit Radsensor und Differentialodometer (mit und ohne D/GPS) konnen auf die Karte eingepast werden, wenn mindestens zwei Kurven durchfahren wurden. Die Verfahren im Winkel- oder Krummungsbild berucksichtigen systematische Sensorfehler deutlich besser und werden mit langerer Fahrt immer genauer. Bordautonome Navigationssysteme mit Odometer und Kreisel erreichen durch die Karteneinpassung mit einer Genauigkeit von 70cm gunstigere Ergebnisse als reines DGPS, so das im Ballungsraum eine zuverlassige Karteneinpassung ohne DGPS moglich ist. Die Integration von DGPS verbessert die Genauigkeit kaum, allerdings wird die Integritat durch hybride Systeme verbessert. Autonomous car navigation systems with on-board positioning sensors and CD-road network require a road accurate positioning relatively to the road network. The logical location of the vehicle relatively to the digital map is determined by map matching. Little availability of satellite methods due to masking and second way effects in urban areas, magnetic disturbances, wheel slips and unfavourable error propagation of dead reckoning lead again and again to loss of position. This can be avoided by map matching which compensates the sensor typical error behaviour of positioning sensors. Based on the error models of the positioning sensors odometer (wheel sensors), magnetic field sensors, gyros, accelerometers, GPS and DGPS five map matching methods were developed, estimated in curvature pattern, in angular pattern, or with two-dimensional cartesian coordinates. Based on simulations for the sensor systems gyro/odometer and gyro/accelerometers and real observations with GPS, DGPS, gyro and wheel sensors these five map matching methods were analysed and valued in terms of sensivity to sensor errors, accuracies and reliability of identification of the track. D/GPS need a support by wheel sensors to bridge masking effects. Measurements by sensor combinations such as gyro with wheel sensors, differential odometer (with or without D/GPS) can be matched onto the map, if at least two turns are contained within the data material. The orientation and curvature matching compensate systematic sensor errors considerably better and increase accuracy with growing distance. Autonomous navigation systems based on odometers, gyros and map matching onto the road net reach more favourable positioning results at an accuracy of 70cm than pure DGPS measurements so that in urban areas a reliable map matching without DGPS is possible. The integration of DGPS does not show a considerable increase in accuracy, nevertheless the integrity of hybrid systems is increased.

Vehicle attitude angle detecting apparatus

Abstract: PROBLEM TO BE SOLVED: To accurately correct the measured position of a vehicle on a road in map data corresponding to an actual road on which the vehicle travels, even if another road runs along the former road in height direction. SOLUTION: This apparatus includes: a GPS part 21 and a self-contained position measuring part 22 for measuring the position of the vehicle and obtaining vehicle position data; a map storage part 23 storing map data having three-dimensional road information; a display part 25 for displaying the position of the vehicle and the map data; and a map matching part 26 comparing the attitude angle of the vehicle indicated by the position data with a road gradient indicated by the three-dimensional road information, when correcting the measured position of the vehicle onto a road in the map data, for determining whether or not they are consistent and determining the road to be corrected. COPYRIGHT: (C)2001,JPO

Matching method for building and map, and recording medium

Abstract: PROBLEM TO BE SOLVED: To highly accurately relate a specified building to a building in map information by calculating an index value for indicating the probability of the pair relation of the specified building and a building name in the map infor mation based on the values of both character string matching rate and address matching degree and relating them. SOLUTION: A link reliability calculation program 12 calculates link reliability between a record read from a database 7 and the building read from a map database 9 and a map matching processing program 5 relates the building judged as corresponding in the map database 9 based on the value calculated by the link reliability calculation program 12. A link reliability calculation method setting program 13 specifies a calculation method when the link reliability calculation program 12 calculates the link reliability. Normally, it is not required to change the setting of the calculation method of the link reliability, however, the calculation method of the link reliability is adjusted matched with the characteristics of the database 7.

Highway judging device and navigator

Abstract: PROBLEM TO BE SOLVED: To make efficiently navigable even when a road exclusive for automobile and a general road are adjacently in parallel with each other. SOLUTION: This device is provided with a road data necessary for map matching, a map data base storing means 102 for storing information set based on the ramp shape of each ramp on a road exclusive for automobile such as a highway or a par road, and a ramp judging means 104 corresponding to the information set for each ramp. Then, the corresponding ramp judging means is started based on the information set for every ramp, and a road on which its own vehicle is traveling at preset is judged. Thus, the passage through the entrance ramp or exit ramp of the road exclusive for automobile can be judged based on the information set for every kind of ramp, and whether or not its own vehicle is traveling on the highway can be precisely judged. Then, the present position is displayed at the pertinent position on a navigation map by using the judged result.

Navigation system for automobile

Abstract: PROBLEM TO BE SOLVED: To decide the precise position of an own vehicle so as to guide a route even in an unreceivable region in which radio waves from an artificial satellite cannot be received or even in a specific region which is not mentioned in map data. SOLUTION: This navigation system is provided with a GPS 4 which finds the absolute position of a vehicle on the basis of radio waves from an artificial satellite 3. The navigation system is provided with a dead reckoning navigation means 8 which finds the relative position of the vehicle on the basis of a running track by a direction sensor 5 and a distance sensor 6. The navigation system is provided with a map matching means 8 in which the running track is compared with a road shape in a map data part 7 and which finds the position in the map data part of the vehicle. The navigation system is provided with a map data part 10 which indicates the unreceivable region of the radio waves from the artificial satellite 3 or a specific region which is not mentioned in the map data part 7. The navigation system is provided with a receiver 13 which receives modulating radio waves, for position detection, from a transmitter 11 in the specific region. The navigation system is provided with an own-vehicle-position decision means 14 which decides the position of an own vehicle on the basis of the received state of the modulating radio waves for position detection and on the basis of the installation position of the receiver. The navigation system is provided with a route guidance means 14 which guides a route by a dead reckoning navigation operation and a map matching operation according to map data in the specific region by making use of the decided position of the own vehicle as a reference.

Pedestrian tracking system using digital portable telephones

Abstract: This paper presents a novel system to track a moving human in living environment. The tracking technique is based on dead reckoning navigation in which the location of the traveler is estimated from measurements of moving distance and direction. The proposed system consists of a portable instrument of the pedestrian and a monitoring instrument in a base station. In the pedestrian portable instrument, the present position is detected at every step from the number of walking steps from the pedometer and the direction from the terrestrial magnetic sensor. In the base station, the map matching process is applied to the positional data transmitted by the portable telephone, and the walking trajectory is depicted on the display of a PC. From the experiments for tracking the walking of a healthy person in an urban area, a residential area, and a mountain path, it is confirmed that the proposed system can track the movement. Also, by transmitting the environmental sound around the pedestrian such as announcement of bus stops through a portable telephone, the possibility is shown for pedestrian tracking including movement by public transport. © 2000 Scripta Technica, Electron Comm Jpn Pt 3, 83(7): 12–21, 2000

Classification of Map-matching Techniques and A Development

Abstract: Map matching technique is an essential part of the car navigation and other related positioning fields such as dead reckoning and GPS data logging upon the GIS database. This paper is to break down map matching techniques, to categorize them, and to propose a simple technique for GPS based map matching technique. For categorization of techniques, two approaches have been adopted. One is to only use geometric information, and the other is to use both geometric and topological information. Some pros and cons of each method have been described. In addition, a simple map matching technique, set forth in this paper, has been introduced for properly utilizing the advantage of GPS points after the absence of the chronic problem of selective availability, which had been prevailed recently. Some research opportunities and problems of the technique have also been discussed.

Target object retrieving device

Abstract: PROBLEM TO BE SOLVED: To retrieve a landmark in the neighborhood of an accident vehicle, based on a vehicle position reported from an accident vehicle in the emergency center of a vehicle emergency report system. SOLUTION: An emergency center is provided with a map data base 1 for storing the position data of a target object. The map data base 1 is retrieved by a map matching device 2 based on latitude and longitude data reported from the emergency reporting device of an accident vehicle 10 so that the present position of the accident vehicle 10 can be exactly calculated. The map data base 1 is retrieved by a map retrieving device 3 so that a target object adjacent to the present position of the accident vehicle can be obtained, and the target object and the position of the accident vehicle are displayed on the map of a display device 4. The operator of the emergency center reports an accident by indicating the target object to a police station and a fire station, and requests the dispatch of an emergency vehicle. Thus, the emergency vehicle can easily specify the accident site, and shorten the arrival time.

Universal Problems of Vehicle GPS Positioning Technique

Abstract: To meet the requirement of precise GPS positioning in vehicle management system, and also to consider the development in the future, this paper introduces differential GPS projects Vehicle route matching technique is presented,aiming at the unreliability of the above mentioned project Our experiments proved that vehicle route matching technique can not only improve positioning precision, but also avoid the chaos in vehicles display on the electronic map

Calculation apparatus for vehicle-position

Abstract: PROBLEM TO BE SOLVED: To provide a vehicle-position calculation apparatus with which a vehicle position can be corrected precisely, even when a vehicle is turned left or right at a crossing. SOLUTION: Road-shape data, composed of a polygon expressing a road, is stored in a detailed-map storage part 17. Traffic-restriction information, corresponding to the road-shape data and connection-attribute data expressing the connection state of the road-shape data, are stored in an attribute-data storage part 19. On the basis of positional information on the vehicle detected by a position detecting part 13, the road-shape data near the vehicle position and the connection-attribute data are read out. On the basis of the positional information on the detected vehicle and on the basis of azimuth information, the present running link of the vehicle is created by a running-link generation part 23 from the read-out road-shape data and the read-out connection-attribute data. On the basis of the positional information on the detected vehicle and on the basis of the azimuth information, the vehicle position is corrected by a map matching part 25 on the generated running link. COPYRIGHT: (C)2002,JPO

Navigation systems in europe. past, present and bright future

Abstract: The first navigation system was introduced in the market nearly 15 years ago and it encompassed dead reckoning unit combined with a digital map matching. Since then, the system has improved in accuracy (from the introduction of GPS and detailed mapping) and the velocity of route calculation (through improvements in computer power) until the current stage with the latest versions of products. Communications are going to play a major role in development of the next generation of Navigation systems. This paper will outline the present solution and new emerging technologies in data transmission such as DAB. TPEG, and GSM-SMS. (A) For the covering abstract see ITRD E106371.

Gradation Map-matching Algorithm in Vehicle Integrated Navigation System

Abstract: Firstly,this paper constructs the model of entitypartners of road network in digital mapThen,the feature of positioning error of GPS/DR integrated navigation is discussedBased on the thought of partial linearization and the relativity between positioning traces and road networks,the gradation MapMatching calculation was realized and it removes the biased error of GPS/DR positioning informationIn the end,the algorithm is tested under AutoCADThe results show that the algorithm stated here is easy to realize and can not only improve the positioning performance of Vehicle Navigation System,but also provide a visual navigation effect

Position detector for vehicles

Abstract: PROBLEM TO BE SOLVED: To identify a road, using accurate parameters for discriminating between superhighways and usual roads where the superhighways and usual roads lie parallel in a position detector for detecting the position of a vehicle on a road, using the map matching technique SOLUTION: The detector comprises road map data having a distinction between usual roads and superhighways, a speed-distance detector 1 for detecting the running speed of a vehicle and a matching evaluator 6 The evaluator 6 obtains a stop ratio of the vehicle over the past from the present time, based on vehicle speed pulses and determines, based on the stop ratio, which running road priority is given between the usual road and the superhighway when the running road is specified

Location information search control apparatus of mobile terminal and method thereof

Abstract: PURPOSE: A location information search control apparatus of a mobile terminal and the method thereof are provided to visually display a searched result for transmit-receive possible domains from a radio port when the initialization of a wireless modem is carried out, based on location coordinates for a received current terminal. CONSTITUTION: A wireless modem(2) demodulates received data according to a radio communication function and modulates data to be transmitted. A GPS receiving part(4) detects a current location coordinates value through a location coordinates value from a GPS satellite. A keypad(6) comprises various function keys for the setup of various menus. A data memory(8) stores the current location coordinates value detected from the GPS receiving part(4). A map data storage part(10) stores map data for areas to which an associated mobile terminal can move. A digital map processing part(12) carries out digital map matching through the map data of the map data storage part(10). A control part(14) controls the display for the current location of the mobile terminal, based on the current location coordinates value. A display driving part(16) carries out driving to display the map matching processed digital map data. A display part(18) displays the current location of the mobile terminal on the digital map.

Map data conversion device and method

Abstract: PROBLEM TO BE SOLVED: To convert into map data for improved mapping even if the map data that has a low coordinate resolution and stores a road shape in mesh units is used to map matching processing. SOLUTION: Map data before conversion has a low coordinate resolution and stores a road shape in mesh units. A device selects a link where either the start terminal node or the end terminal node of the link is on the boundary of the mesh (steps S10-S12). When the length of the selected link is equal to or less than a threshold L, a node that is connected to a node that is not located on the mesh boundary is connected to a node that is located on the mesh boundary (step S14), and a node that is not located on the mesh boundary is deleted from the map data (step S15).

Method and device for displaying emergency

Abstract: PROBLEM TO BE SOLVED: To permit a center device operator to grasp vehicle speed just before an accident and to make conversation with an appropriate person concerned by generating travel track marks using different colors in several stages based on received vehicle speed information, overlapping them with a map and displaying them. SOLUTION: An emergency center receives site position information and vehicle speed information by data communication when an accident occurs through communication equipment 13. A map matching device 14 executes map mapping based on received site position information. An object retrieval device 15 retrieves an object based on site position information and map data. An emergency information display device 16 executes a site position display processing based on latitude/longitude information which is obtained through the map matching device 14 and is made into altitude and on map data obtained through a map data base 17 and displays emergency information. When a site position and a travel track, which the emergency center receives, are overlapped on a map and they are displayed, the travel track marks using different colors for plural stages are displayed on the map in accordance with vehicle speed information.