Acquisition of precise probe vehicle data in urban city based on three-dimensional map aided GNSS

Global Navigation Satellite System (GNSS) based vehicle probe technology is emerging as an effective means to monitor traffic flow and optimize traffic control. Moreover, the accuracy of the probe vehicle data is expected to be sub-meter level or even more precise for the lane-level traffic analysis. However, the performance of GNSS positioning technique is severely degraded in urban canyons, because the multipath effect and Non-Line-Of-Sight propagation. We proposed to rectify the positioning result of the commercial GNSS single frequency receiver using the three-dimensional building map, which is named 3D-GNSS. This paper proposes to employ the 3D-GNSS positioning method for the acquisition of the precise probe vehicle data. With the benefit of the proposed method, the global lane-level position, speed and stop state of vehicles are expected to be recognized from the 3D-GNSS based probe data. Finally, the accuracy of the 3D-GNSS based probe technology is evaluated in one of the most challenging urban city, Tokyo. The experiment results demonstrate that the proposed method can achieve 87% correct lane rate in the localization, and has submeter accuracy with respect to position and speed error mean. The accurate position and speed estimation provided by 3D-GNSS, result 92% correct rate in detecting stop vehicles.