Land vehicle positioning in urban area by integrated GPS/BeiDou/OBD-II/MEMS IMU

This paper proposes an efficient hybrid positioning method for land vehicles in urban area. As widely known, any single satellite positioning system suffers from the lack of satellite visibility in urban area. To improve positioning availability in urban area, the proposed method integrates a GPS/BeiDou receiver, an OBD-II (On-Board Diagnostics-II) device, and a MEMS IMU (Micro Electro Mechanical Systems-Inertial Measurement Unit). The proposed method corrects the inertial velocity by the speed provided by the OBD-II device. To evaluate the feasibility of the proposed method, an experiment was performed in a deep urban environment. By the experiment result demonstrates that positioning availability can be improved dramatically in deep urban area by integrating different sensors.