mhgpsdr.h

基于多假设的地图匹配算法。程序能够根据车辆在行驶过程中收集到的GPS/DR数据正确得到当前车辆所在的道路位置。

/******************************************************************************

    File Name:   MH/MHGPSDR.h
    Description: Multi-hypothesis map matching
                 Calculate weights with GPS, bearing and odometry distance 

******************************************************************************/

/******************************************************************************

    Author: [e-mail]	
    Upadate:
        2008/09/21  File founded

    Copyright 2008-2009 Robot Lab., Dept.of Automation, Tsinghua University

******************************************************************************/

#ifndef __MHGPSDR_H__
#define __MHGPSDR_H__

#include "../MH/MHBase.h"

/******************************                   Operations of GPS-DR MH matching          ***************************************************/
/*Weighing parameters*/
const DATATYPE GPSDev = 10;                                             /*Deviation of GPS distance error measured in meters*/
const DATATYPE BearDev = 0.30;                                          /*Deviation of bearing angle error measured in radians*/
const DATATYPE DisDev = 0.10;                                           /*Deviation of odometry distance error measured in proportion*/

const DATATYPE BearPunishThre = Pi/3;                                   /*Punishment of big bearing error, error threshold*/
const DATATYPE BearPunish = -100;                                       /*Punishment of big bearing error, weight punishment*/

/*GPS-DR multi-hypothesis class*/
typedef class MHGPSDR : public MHBase
{
protected:
    DATATYPE Weigh(const HypoNode& hypoOld, const HypoNode& hypoNew);   /*Weigh hypotheses (after new hypothesis generated)*/

public:
    MHGPSDR();                                                          /*Default constructor*/
    ~MHGPSDR();                                                         /*Default destructor*/
}MHGPSDR;

#endif /*__MHGPSDR_H__*/