الفهرس 
Evaluation of Smartphone GNSS Precise Point Positioning Integrated With MEMS and Road Map Matching Technique Supporting Land Vehicle Navigation System
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Abstract
Smartphones have recently increased in importance in people’s daily lives. The
navigation applications services supported by smartphones have significantly
enhanced the land vehicle navigation. However, smartphone navigation has a problem
of decreased positioning accuracy in the urban environments over the last years. The
main scope of this research study is to enhance the smartphone’s positioning accuracy
used in land vehicle navigation applications in the GNSS deteriorated signal
environments. This objective can be achieved by constructing un-differenced and
Between Satellite Single Difference Precise Point Positioning (BSSD PPP). The single
frequency raw GNSS data are collected from kinematic and static experiments using
the smartphone. The BSSD PPP positioning data are integrated with the smartphone
inertial sensors output by the Kalman filter technique. A restricted mapping of the road
network for the proposed area are constructed by using a new map matching
mathematical model. This model utilizes the Hidden Marcov Model and Viterbi
algorithm. A constrained land vehicle navigation solution is obtained by adapting the
integrated system’s positioning with the outcome of the map matching model. The
integrated model’s outcome is evaluated in relation to the reference RTK relative
positioning. The results indicate that the land vehicle navigation solution of map
matching positioning is significantly better than BSSD and BSSD-INS solutions and
it enhances the navigation solution accuracy