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Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
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The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
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GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
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The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense  for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
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GPS/DR Error Estimation for Autonomous Vehicle Localization.

Byung-Hyun Lee1, Jong-Hwa Song2, Jun-Hyuck Im3

  • 1Electronics Engineering, Konkuk University, Seoul 143-701, Korea. maximan@konkuk.ac.kr.

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Summary

Autonomous vehicles need precise navigation. This study introduces a new localization method using curved lane models and curve matching, achieving sub-meter accuracy for reliable autonomous driving in complex road conditions.

Keywords:
GPS/DR error estimationautonomous vehicleslane level positioningvisionwaypoint

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Area of Science:

  • Robotics and Control Systems
  • Computer Vision for Autonomous Navigation
  • Geospatial Positioning and Localization

Background:

  • Current autonomous vehicle navigation struggles with lane detection in non-straight sections and intersections.
  • Existing lane detection methods using straight-line models introduce errors in lateral distance estimation on curves.
  • Reliable localization is critical for safe and efficient autonomous driving, especially in complex environments.

Purpose of the Study:

  • To propose an enhanced localization method for autonomous vehicles.
  • To improve waypoint following performance in challenging road geometries like intersections and curves.
  • To provide accurate positioning information for autonomous driving systems.

Main Methods:

  • Developed a lane detection method incorporating curved lane models.
  • Integrated stop line detection and curve matching algorithms.
  • Utilized GPS/DR (Global Positioning System/Dead Reckoning) error estimation with the new detection methods.

Main Results:

  • The proposed localization method demonstrated improved performance in waypoint following.
  • Accurate positioning was achieved in intersections, sharp curves, and transitions from straight to curved sections.
  • Experimental evaluation showed sub-meter level positioning accuracy.

Conclusions:

  • The proposed localization method enhances autonomous vehicle navigation reliability.
  • It effectively addresses limitations of traditional lane detection in complex road scenarios.
  • Sub-meter accuracy positioning enables safer and more robust autonomous driving.