Title: High Precision Localisation in Customised GNSS Receiver for Railway Applications
Author(s): M. Breuer, T. Konrad, D. Abel
Published in: Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016)
September 12 - 16, 2016
Oregon Convention Center
Portland, Oregon
Pages: 779 - 787
Cite this article: Breuer, M., Konrad, T., Abel, D., "High Precision Localisation in Customised GNSS Receiver for Railway Applications," Proceedings of the 29th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, September 2016, pp. 779-787.
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Abstract: In railway applications, global navigation satellite system (GNSS)-aided navigation is still an underdog and rarely applied nowadays. The reasons are the required high robustness in localisation availability and integrity, even in harsh environmental conditions. The present publication shows the ongoing localisation filter developments for a new embedded GNSS-receiver, which is especially designed for railway applications. The targeted hardware includes an industrial-class inertial measurement unit (IMU) and an L1/L2 multi-frequency GNSS receiver, packed in a highly-integrated real-time hardware. In this paper, focus is put on the complete filter design methodology and its parameterisation for simulative and experimental testing. This includes a detailed discussion of the implemented IMU and GNSS error models and their practical integration into the filter algorithm. Tests on a dedicated test vehicle show 2Dpositioning errors below 1 m in favourable conditions, and below 2 m in a scenario with parts of poor satellite reception.