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A vehicle autonomous positioning technology based on terrain relative navigation

Considering the characteristics of satellite navigation signals that are vulnerable to occlusion, interference and deception, and the situation that satellite navigation signals can-not be received in complex environments, this paper proposes a vehicle autonomous positioning method based on terrain relative navigation. This method matches the terrain data collected by the vehicle during driving with the pre-established topographic map, so as to estimate the position of the vehicle in the topographic map and realize the positioning of the vehicle on the structured road. The positioning process does not rely on GNSS, and is less affected by other factors due to the main use of road terrain information. This paper uses the constructed topographic map and sampling data to realize the vehicle positioning on the road, and the positioning error is less than 1 meter.