| 主权项 |
1. A method comprising:
performing, by a particle filter running on a computing device, particle seeding on an outdoor road network based on a satellite-based position measurement, wherein the particle seeding includes:
determining a measure of position uncertainty associated with the satellite-based position measurement;determining a distance based at least in part on the measure of position uncertainty;selecting a set of one or more road links in the road network that are within the distance of the satellite-based position measurement;assigning a particle to each road link in the set of one or more road links;determining a score for each assigned particle; anddetermining a relative likelihood value for each assigned particle; calculating, by the computing device, relative particle weights; resampling, by the computing device, the particles; computing, by the computing device, a particle filter solution; comparing, by the computing device, the particle filter solution with an instantaneous matcher; and calculating, by the computing device, a map-match given the particles, wherein the method is performed by one or more hardware processors of the computing device. |
