# US 2021/0255337 A1 · Accuracy of global navigation satellite system based positioning using high definition map based localization

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- Number: US 2021/0255337 A1
- Document ID: US20210255337A1
- Status: Published application
- Kind: A1
- Application number: 17/183,031
- Filed: 2021-02-23
- Published: 2021-08-19
- Earliest claimed: 2017-11-22
- Assignees: Deepmap Inc.
- Applicants: DeepMap Inc.
- Inventors: Jeffrey Minoru Adachi
- Web page: https://patentgrep.com/patent/US20210255337A1

## CPC

- G01S 19/44: Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
- G01C 21/1652: {with ranging devices, e.g. LIDAR or RADAR}
- G01C 21/1656: {with passive imaging devices, e.g. cameras}
- G01C 21/30: Map- or contour-matching
- G01C 21/36: Input/output arrangements for on-board computers
- G01S 19/41: Differential correction, e.g. DGPS [differential GPS]
- G01S 19/43: using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S 19/45: by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S 19/485: {whereby the further system is an optical system or imaging system}
- G01S 19/49: whereby the further system is an inertial position system, e.g. loosely-coupled
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)

## Abstract

A vehicle, for example, an autonomous vehicle receives signals from a global navigation satellite system (GNSS) and determines accurate location of the vehicle using the GNSS signal. The vehicle performs localization to determine the location of the vehicle as it drives. The autonomous vehicle uses sensor data and a high definition map to determine an accurate location of the autonomous vehicle. The autonomous vehicle uses accurate location of the vehicle to determine RTK corrections that is used for improving GNSS location estimates at a future location. The RTK corrections may be transmitted to other vehicles.

## Claims

### Claim 1

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.