Intelligent map-matching algorithm based on map information

In view of the military vehicle's long-time, long-distance and high-precision autonomous navigation requirements, an intelligent map-matching algorithm based on road information is proposed. Traditional map-matching algorithms have some shortcomings when used alone. Three distinct characteristics and highly complementary map matching algorithms are picked out as the basic algorithms for intelligent map-matching algorithm by comparing the advantages and disadvantages of them. The road information is identified and judged based on inertial navigation information. An appropriate algorithm is automatically selected for map matching according to the road conditions. And the elliptical path search area is selected based on the vehicle's heading and speed information. The map matching positioning accuracy is 10.33 m (CEP) while the vehicle test is carried out by more than 5 h over approximate 240 km. Experimental results show that the algorithm can be adapted to different roads, and can effectively restrain the inertial navigation error's diverges.