Single Frequency Precise Point Positioning: Obtaining a map accurate to lane-level

Modern Intelligent Transport Solutions can achieve improvement of the traffic flow at motorways. With lane-specific measurements and lane-specific control more measures are possible. Single Frequency Precise Point Positioning (PPP) is a newly developed technique to get a sub-meter accurate position from the signals of the Global Positioning System (GPS). PPP-GPS allows for sub-meter accurate positioning, in real time, of vehicles on the motorway. In theory, it has been shown that using GPS-PPP probe vehicle data, also the lanes of the motorway can be mapped. In this paper this technique is tested in practice and a map of the lanes of a motorway is created. To this end, a vehicle equipped with a PPP-GPS device runs 100 times up and down a specific motorway stretch, for which the PPP-GPS trajectory data are collected. The paper shows a methodology to construct the position of road from the data. Moreover, it shows how the positions and the widths of different lanes can be identified from the data. The results show that the lanes can be successfully identified from the data. With the parametrized lanes, vehicles can be tracked down to a lane with the PPP-GPS device.