| 摘要 |
The invention relates to a method for determining a set of passable roads or areas traveled by a user with a minimum associated probability or integrity which comprises: receiving from a GNSS system respective position solutions PVT of said user in respective instants of time ta and tb, respectively, and respective position integrity ellipses, Ia and Ib (201), with respective minimum associated probabilities, Pa and Pb, that the user is located in each of them in ta and in tb, respectively, and a position increase Deltaab between ta and tb with its position increase integrity ellipse Iab (204) and its associated probability Pab; obtaining from a GIS system respective passable areas corresponding to said PVT solutions, determining a first passable integral area Sa=Ia∩TGIS (202) and a second passable integral area Sb=Ib∩TGIS (203) as an intersection for each instant of time of said position integrity ellipses with said passable areas; propagating said first passable integral area to the subsequent instant tb by means of the position increase, considering the uncertainty associated to said increase determined by the integrity ellipse of the velocity Iab and its associated probability Pab (204), obtaining a propagated integral area Sab (205); eliminating from said propagated integral area Sab the non-passable areas, obtaining a propagated passable integral area S'ab (206); determining a final passable integral area S'b formed by a road or a set of passable roads in the second instant tb as an intersection of said second passable integral area and of said propagated passable area or as the smallest of said areas; and determining in each case the minimum probability P'b that the user is located in said final passable integral area S'b.
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