Lane-level positioning consists of GNSS satellite positioning (Beidou/GPS)+inertial navigation module+lane visual recognition+ADAS lane map. Among them, GNSS satellite and ADAS vision sensor are well known. They provide basic navigation positioning and lane line recognition in the road respectively. Inertial navigation is the basis of lane level navigation, providing the whole system with important data such as vehicle height, angular velocity, acceleration and speed pulse. Due to the existence of inertial navigation module, lane level navigation has the ability of full scene positioning.