Mapping motorway lanes and real-time lane identification with single-frequency precise point positioning test

Mapping motorway lanes and real-time lane identification with single-frequency precise point positioning test

De Bakker, P.F.
Knoop, V.L.
Tiberius, C.C.J.M.
Van Arem, B.

Civil Engineering and Geosciences

Geoscience & Remote Sensing

2014-04-14

Modern advanced motorway traffic control requires lane-specific observations, and provide vehicles with lane-specific control measures. Single-Frequency Precise Point Positioning (SF-PPP) was previously demonstrated to provide sub-meter accurate positions in real-time using a low-cost mass-market receiver and patch antenna. Next to an accurate current position of the vehicle, accurate maps of the lanes of the motorway are also needed to identify in which lane the vehicle is actually driving. Theoretical derivations indicate that the lanes of the motorway can in fact be mapped using the same SF-PPP results from a number of previous runs over the motorway. In this paper the proposed technique is tested in practice and a map of the lanes of a motorway is created. To this end, a vehicle equipped with a mass-market GPS device runs 100 times up and down a stretch of the A13 motorway between Delft and Rotterdam in the Netherlands (approximately 5.5 km each direction, in total for 100 runs about 17 hours of driving). A detailed assessment of the quality of the SF-PPP solution is presented in this paper. The errors in each of the horizontal directions are smaller than 1.1 meters in 95% of the epochs. The root-mean-square error (rmse) in these directions is in the order of 50 cm. A moderate bias in the cross track direction is observed, which could be a result of multipath from the vehicle itself (given the fact that the antenna is located asymmetrically on the roof, close to the right side of the vehicle). However, despite this bias, and given the fact that lanes on Dutch motorways are 3.5 meters wide, the availability of a SF-PPP lane identification system would be about 99% for this dataset.

http://resolver.tudelft.nl/uuid:e7ab7e53-656f-4c51-90ed-02c73e4aee75

Nederlands Instituut voor Navigatie

Proceedings of the European navigation conference (ENC)-GNSS 2014, 1-12. (2014)

Institutional Repository

conference paper

(c) 2014 De Bakker, P.F.
Knoop, V.L.
Tiberius, C.C.J.M.
Van Arem, B.