Precise positioning with low-cost single-frequency global navigation satellite system (GNSS) receivers has great potential in a wide range of applications because of its low price and improved accuracy. However, challenges remain in achieving reliable and accurate solutions using low-cost receivers. For instance, the successful ambiguity fixing rate could be low for real-time kinematic (RTK) while large errors may occur in precise point positioning (PPP) in some scenarios (e.g., trees along the road). To solve the problems, this paper proposes a method with the aid of additional lane-level digital map information to improve the accuracy and reliability of RTK and PPP solutions. In the method, a digital camera will be applied for lane recognition and the positioning solution from a low-cost receiver will be projected to the digital map lane link. With the projected point position as a constraint, the RTK ambiguity fixing rate and PPP performance can be enhanced. A field kinematic test was conducted to verify the improvement of the RTK and PPP solutions with the aid of map matching. The results show that the RTK ambiguity fixing rate can be increased and the PPP positioning error can be reduced by map matching.

中文翻译：

---

使用低成本接收器在陆地车辆导航的车道级地图匹配辅助下进行精确的单频定位

使用低成本单频全球导航卫星系统 (GNSS) 接收器进行精确定位，由于其低廉的价格和更高的精度，在广泛的应用中具有巨大的潜力。然而，在使用低成本接收器实现可靠和准确的解决方案方面仍然存在挑战。例如，实时运动学（RTK）的模糊度修复成功率可能很低，而在某些场景（例如，沿路的树木）中，精确点定位（PPP）可能会出现较大的误差。针对这些问题，本文提出了一种借助附加车道级数字地图信息的方法来提高 RTK 和 PPP 解决方案的准确性和可靠性。在该方法中，将应用数码相机进行车道识别，并将来自低成本接收器的定位解决方案投射到数字地图车道链路上。以投影点位置为约束，可以提高 RTK 模糊固定率和 PPP 性能。进行了现场运动学测试，以验证借助地图匹配对 RTK 和 PPP 解决方案的改进。结果表明，通过地图匹配可以提高RTK模糊度固定率，降低PPP定位误差。