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Vehicle localization based on odometry assisted magnetic matching

机译：基于里程计辅助磁匹配的车辆定位

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摘要

Magnetic is a promising technical for positioning in the GNSS denied scenarios such as parking lot and tunnel, since the magnetic field exists everywhere on the earth. In this paper, for vehicle navigation, an odometry assisted magnetic matching algorithm is proposed, in which the magnetometer and the odometry of vehicle are used. The proposed scheme consists of two phases: offline phase and online phase. During the offline phase, the magnetic map is constructed which includes the magnetic field intensities and the coordinates of Reference Points, which are distributed uniformly along the road. During the online phase, the position is estimated by matching the magnetic field intensities in a certain distance window to the magnetic map constructed in the offline phase. To overcome the mismatch and error fluctuation problem, odometry is also used to evaluate the result. Experiments based on a mini bus showed that the performance of proposed scheme is accurate (2a:4.8m) and reliable (max error: 13m).
机译：磁场是在GNSS被拒绝的场景（如停车场和隧道）中定位的有前途的技术，因为磁场在地球上无处不在。本文针对车辆导航，提出了一种里程计辅助的磁匹配算法，该算法使用了车辆的磁力计和里程计。所提出的方案包括两个阶段：离线阶段和在线阶段。在离线阶段，构造的磁图包括沿道路均匀分布的磁场强度和参考点的坐标。在在线阶段，通过将特定距离窗口中的磁场强度与在离线阶段构造的磁图进行匹配来估计位置。为了克服不匹配和误差波动的问题，测程也用于评估结果。基于小型总线的实验表明，该方案的性能准确（2a：4.8m），性能可靠（最大误差：13m）。

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