{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:35:18Z","timestamp":1760243718470,"version":"build-2065373602"},"reference-count":25,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2012,10,29]],"date-time":"2012-10-29T00:00:00Z","timestamp":1351468800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents a two-layer based enhanced map that can support navigationin urban environments. One layer is dedicated to describe the drivable road with a specialfocus on the accurate description of its bounds. This feature can support positioning andadvanced map-matching when compared with standard polyline-based maps. The otherlayer depicts building heights and locations, thus enabling the detection of non-line-of-sightsignals coming from GPS satellites not in direct view. Both the concept and the methodologyfor creating these enhanced maps are shown in the paper.<\/jats:p>","DOI":"10.3390\/s121114508","type":"journal-article","created":{"date-parts":[[2012,10,30]],"date-time":"2012-10-30T04:09:59Z","timestamp":1351570199000},"page":"14508-14524","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["A Two-Layers Based Approach of an Enhanced-Mapfor Urban Positioning Support"],"prefix":"10.3390","volume":"12","author":[{"given":"Carolina","family":"Pi\u00f1ana-D\u00edaz","sequence":"first","affiliation":[{"name":"Department of Information and Communication Engineering, Facultad de Inform\u00e1tica, Universidad de Murcia, Campus de Espinardo, Murcia, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2997-4859","authenticated-orcid":false,"given":"Rafael","family":"Toledo-Moreo","sequence":"additional","affiliation":[{"name":"Department of Electronics and Computer Technology, Universidad Polit\u00e9cnica de Cartagena, ETSIT, Cartagena, Spain"}]},{"given":"F.","family":"Toledo-Moreo","sequence":"additional","affiliation":[{"name":"Department of Electronics and Computer Technology, Universidad Polit\u00e9cnica de Cartagena, ETSIT, Cartagena, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5525-1259","authenticated-orcid":false,"given":"Antonio","family":"Skarmeta","sequence":"additional","affiliation":[{"name":"Department of Information and Communication Engineering, Facultad de Inform\u00e1tica, Universidad de Murcia, Campus de Espinardo, Murcia, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2012,10,29]]},"reference":[{"key":"ref_1","first-page":"77","article-title":"Characterization of GPS multipath for passenger vehicles across urban environments","volume":"189","author":"Bonnifait","year":"2009","journal-title":"ATTI dell'Istituto Italiano di Navigazione"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"312","DOI":"10.1016\/j.trc.2007.05.002","article-title":"Current map-matching algorithms for transport applications: State-of-the-art and future research directions","volume":"15","author":"Quddus","year":"2007","journal-title":"Elsevier Trans. Res. Part C"},{"key":"ref_3","first-page":"N3","article-title":"The case against map-matching","volume":"6","author":"Grush","year":"2008","journal-title":"Eur. J. Navig."},{"key":"ref_4","unstructured":"Janausch, T., Gern, A., Linder, F., Maile, M., Wilson, C., Wolermann, B., Pilutti, T., Ahmed-Zarid, F., Palmer, M., Shulman, M., Waldis, A., Sadekar, V., Deering, R., Grimm, D., Hamilton, B., Kellum, C., Krishnan, H., Haskitt, P., Nyczak, G., Uehara, Y., Goudy, R., Sanislow, D., and Torres, R. (2004). Enhanced Digital Mapping Project\u2014Final Report, US Department of Transportation."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"798","DOI":"10.1109\/JSTSP.2009.2027803","article-title":"Fusing GNSS, dead-reckoning and enhanced maps for road vehicle lane-level navigation","volume":"3","author":"Peyret","year":"2009","journal-title":"IEEE J. Sel. Top. Signal Process."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"180","DOI":"10.1109\/TITS.2008.2011691","article-title":"IMM-based lane-change prediction in highways with low-cost GPS\/INS","volume":"10","year":"2009","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/TITS.2009.2031625","article-title":"Lane-level integrity provision for navigation and map matching with GNSS, dead reckoning, and enhanced maps","volume":"11","author":"Peyret","year":"2010","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1109\/TRA.2002.807557","article-title":"Autonomous vehicle positioning with GPS in urban canyon environments","volume":"19","author":"Cui","year":"2003","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Fouque, C., Bonnifait, P., and B\u00e9taille, D. (2008, January 5\u20138). Enhancement of Global Vehicle Localization Using Navigable Road Maps and Dead-Reckoning. Monterey, CA, USA.","DOI":"10.1109\/PLANS.2008.4570082"},{"key":"ref_10","unstructured":"Zott, C., Yuen, S.Y., Brown, C.L., Bertels, C., Papp, Z., and Netten, B. (2008, January 16\u201320). Safespot Local Dynamic Maps: Context-Dependent View Generation of a Platform's State and Environment. New York, NY, USA. Paper nb. 20260."},{"key":"ref_11","unstructured":"Wevers, K., and Dreher, S. (2008, January 16\u201320). Digital Maps for Lane Level Positioning. New York, NY, USA."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"786","DOI":"10.1109\/TITS.2010.2050689","article-title":"Creating enhanced maps for lane-level vehicle navigation","volume":"11","year":"2010","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Wang, C., Hu, Z., and Uchimura, K. (2008, January 12\u201314). A Precise Road Network Modeling and Map Matching for Vehicle Navigation. Beijing, China.","DOI":"10.1109\/ITSC.2008.4732642"},{"key":"ref_14","unstructured":"Institute National de L'Information Geographique et Forestier Available online: http:\/\/www.ign.fr\/ (accessed on 10 October 2012)."},{"key":"ref_15","unstructured":"Marais, J., Berbineau, M., Frimat, O., and Franckart, J.P. (, January December). A New Satellite-Based Fail-Safe Train Control and Command for Low Density Railway Lines. Lille, France."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1109\/TITS.2008.2011688","article-title":"GPS multipath mitigation for urban area using omnidirectional infrared camera","volume":"10","author":"Meguro","year":"2009","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_17","first-page":"796","article-title":"Accurate localisation based on GNSS and propagation knowledge for safe applications in guided transport","volume":"48","author":"Marais","year":"2012","journal-title":"Transp. Res. Arena"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"819","DOI":"10.1109\/TITS.2011.2122258","article-title":"Simulation of the effects of different urban environments on GPS performance using digital elevation models and building databases","volume":"12","author":"Costa","year":"2011","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"1695","DOI":"10.1109\/TVT.2005.853461","article-title":"Land mobile GNSS availability and multipath evaluation tool","volume":"54","author":"Marais","year":"2005","journal-title":"IEEE Trans. Vehicular Technol."},{"key":"ref_20","unstructured":"Groves, P., Wang, L., and Ziebart, M. Shadow matching: Improved GNSS accuracy in urban canyons. Available online: http:\/\/www.gpsworld.com\/wireless\/personal-navigation\/shadow-matching-12550 (accessed on 10 September 2012)."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Peyret, F., B\u00e9taille, D., and Florian, M. (2011, January 24\u201325). Non-Line-of-Sight GNSS Signal Detection Using an on-Board 3D Model of Buildings. Saint-Petersburg, Russia.","DOI":"10.1109\/ITST.2011.6060069"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Pinana-Diaz, C., Toledo-Moreo, R., B\u00e9taille, D., and Gomez-Skarmeta, A. (2011, January 5\u20137). GPS Multipath Detection and Exclusion with Elevation- Enhanced Maps. Washington, DC, USA.","DOI":"10.1109\/ITSC.2011.6083042"},{"key":"ref_23","unstructured":"L\u00f3pez-P\u00e9rez, D., and Toledo-Moreo, R. (2012, January 3). An Approach to Road Enhanced Maps in Urban Areas. Henares, Spain."},{"key":"ref_24","unstructured":"Garrett, J.J. Ajax: A New Approach to Web Applications. Available online: AdaptivePath.com (accessed on 25 October 2012)."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Abdallah, F., Nassreddine, G., and Denoeux, T. (2012). A multiple-hypothesis map-matching method suitable for weighted and box-shaped state estimation for localization. IEEE Trans. Intell. Transp. Syst.","DOI":"10.1109\/TITS.2011.2160856"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/11\/14508\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:53:11Z","timestamp":1760219591000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/12\/11\/14508"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,10,29]]},"references-count":25,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2012,11]]}},"alternative-id":["s121114508"],"URL":"https:\/\/doi.org\/10.3390\/s121114508","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2012,10,29]]}}}