Lane-level positioning and map matching are some of the biggest challenges for navigation systems. Additionally, in safety applications or in those with critical performance requirements (such as satellite-based electronic fee collection), integrity becomes a key word for the navigation community. In this scenario, it is clear that a navigation system that can operate at the lane level while providing integrity parameters that are capable of monitoring the quality of the solution can bring important benefits to these applications. This paper presents a pioneering novel solution to the problem of combined positioning and map matching with integrity provision at the lane level. The system under consideration hybridizes measurements from a global navigation satellite system (GNSS) receiver, an odometer, and a gyroscope, along with the road information stored in enhanced digital maps, by means of a multiple-hypothesis particle-filter-based algorithm. A set of experiments in real environments in France and Germany shows the very good results obtained in terms of positioning, map matching, and integrity consistency, proving the feasibility of our proposal.

In road layer compaction, it is essential that the right level of energy should be transmitted to the material, with a uniform distribution. This energy depends on the number of runs, or passes, of the machine. The main objective of CIRCOM is to assist the driver to perform the exact number of passes, at the right speed, everywhere on the surface to be compacted. From this improvement of quality in terms of level and uniformity of density, will result significant gains in road life-time, equipment operating time and material savings. To perform this task, it is essential to provide the operator and the system with an accurate and continuous location of the machine. The second objective is to record the actual work achieved by the compactor, in terms of trajectory and number of passes on every point, in order to feed the site database and to perform a global quality control at the site level. The main constraint is at the level of ergonomics; the system must be very simple and user-friendly.