Novel map-matching algorithm based on moving-related least squares

To improve the digital map-matching accuracy of military vehicle navigation and solve the problem that common methods are prone to false matches and cannot eliminate the longitudinal error along the path, a novel least-squares map-matching scheme based on mobile-related is presented. By making full use of the historical trajectory and network information, the method uses multi-resolution mobile relationship to search and locate matched sections, uses least-squares method to do the overall projection from SINS curve to the road section to be matched, and eliminates the deviation of the vehicle off the road centerline with vision or math approach. Experimental results show that the positioning circular error limit after matching is less than 1 m. This algorithm is simple and effective, and can meet the high-precision requirements. It can provide good auxiliary information for the integrated navigation.