Positioning Technique Based on Vehicle Trajectory Using GPS Raw Data and Low-cost IMU

Abstract

This paper proposes a technique of position estimation which is applicable to urban environments where the accuracy of GPS positioning is deteriorating. The method, utilizing GPS Doppler processing and gyros, calculates trajectories by extracting the most reliable azimuth, which is then integrated with vehicle speed. Our approach focuses on integrating these segments of the trajectory with GPS pseudoranges which are received at points throughout the whole trajectory. An evaluation test showed that our proposed method achieves more accurate position estimation than conventional methods, demonstrating its effectiveness.