GNSS and Odometry Fusion for High Integrity and High Availability Train Control Systems

Alessandro Neri, Salvatore Sabina, Umberto Mascia

Abstract:	Mitigation of hazards generated by local error sources, like multipath and interferences represent a challenging task in order to reach the Safety Integrity Level required by modern Train Control systems like the ERTMS/ETCS, without impairing system availability, when GNSS based Location Determination Systems (LDS) are employed. Here, we take advantage of the high number of location estimates provided by the GNSS receiver, compared to those effectively required by ERTMS/ETCS, to design an integrated GNSS + Odometer subsystem that allows ERTMS/ETCS to meet the SIL-4 Tolerable Hazard Rate requirement, while preserving system availability. At this aim, several estimates of the train location at a given instant, obtained by combining the GNSS estimates at different epochs with the distance travelled by the train given by the odometer, are combined by means of a median filter. The paper provides a detailed description of the overall GNSS and Odometry fusion algorithm. Experimental results based of data recorded on the railway test bed environment deployed in Italy in the framework of the ESA ARTES 20 3InSat project, illustrate the achievable performance.
Published in:	Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015) September 14 - 18, 2015 Tampa Convention Center Tampa, Florida
Pages:	639 - 648
Cite this article:	Neri, Alessandro, Sabina, Salvatore, Mascia, Umberto, "GNSS and Odometry Fusion for High Integrity and High Availability Train Control Systems," Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 639-648.
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