Abstract: The Global Navigation Satellite System (GNSS) has been widely utilized as a method to accurately determine the position of a vehicle, but at present, the accuracy may be degraded depending on the radio wave reception conditions from the satellite. There have also been growing concerns about cyber-attacks on GNSS. We have been developing a method for estimating the position of a traveling vehicle using MEMS sensor data acquired using acceleration, gyro, and geomagnetic sensors. This algorithm has been evaluated in several fixed courses and obtained good results with a position error of less than 1 m. In the current study, we present a solution to extend this vehicle localization algorithm with MEMS sensor data by combining it with a map-matching algorithm in order to associate reference sensor data with road links. This will greatly reduce the computational time by avoiding exhaustive cross-correlation calculation to vast amount of sensor data.

Keywords: Localization, Acceleration, Gyroscope, Geomagnetic, MEMS sensor, Map-matching.

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