Mapping-Based Positioning Strategies for LGV

Positioning is the core of a LGV system. The basic concepts of positioning LGV are first introduced. On the basis of the concepts, the positioning process is divided into two steps, mapping and calculating. Two main categories of mapping process, fullmap and quickmap, are proposed. Quickmap are further discussed as position-based quickmap and angle-based quickmap. Fullmap is based on geometrical matching while quickmap is based on continuous mapping. Based on different mapping strategies, the calculating processes are accordingly different. Least Square Method is used to refine the result of position-based strategies, including fullmap and position-based quickmap. Least Square Quasi-Newton method is used to calculate the result of angle-based strategy, which here is angle-based quickmap.