Accuracy of global navigation satellite system based positioning using high definition map based localization

A non-transitory computer readable storage medium storing instructions, the instructions when executed by a processor, cause the processor to perform steps comprising:

• initializing, by a processor of an autonomous vehicle configured to receive global navigation satellite system (GNSS) signals, a location of the autonomous vehicle and RTK corrections based on the location of the autonomous vehicle and raw GNSS signals from the location;
• and
• repeating the steps comprising:
• receiving, by a GNSS receiver mounted on the autonomous vehicle, a raw GNSS signal from the GNSS;
• accessing previously determined RTK corrections by the autonomous vehicle;
• determining an accurate GNSS position estimate by applying the previously determined RTK corrections to the raw GNSS signal;
• receiving sensor data captured by sensors mounted on the autonomous vehicle;
• accessing at least a portion of high definition (HD) map, the portion describing a geographical region surrounding the autonomous vehicle;
• determining a current location of the autonomous vehicle in the HD map using the accurate GNSS position estimate;
• determining new RTK corrections for determining accurate GNSS position estimates in the future;
• determining control signals for navigating the autonomous vehicle using the current location of the autonomous vehicle and the data of the HD map;
• and
• navigating the autonomous vehicle based on the control signals.