Multi-sensor-based Train Localization Integrity Monitoring Aided with Digital Track Map

Debiao Lu, Xin Han, Baigen Cai, and Jiang Liu

Peer Reviewed

Abstract:	Localization is a key problem for train control and train protection. GNSS(Global Navigation Satellite Systems) have been widely applied in railway applications as timing, passenger information, track survey, and also train localization for train control purposes on lines like Chicago–Detroit Line, Qinghai-Tibet railway, etc. However, due to the dynamic movement of the locomotive, GNSS signal is propagated to localization unit through the changing environment, thus the performance is affected and maybe degraded in some GNSS signal reception constrained environments. The use of multi-sensor-based train localization structure including GNSS, INS and odometers, enables the train localization process in a continuous and accurate way to deliver the train location during the whole journey of the designated train number. As the railway track is the physical constrain for the train journey, the inclusion of precise high definition DTM (digital track map) allows track level determination in terms of both perpendicular (cross-track) and tangential (along track) error and protection level estimation. The maximum error estimated in the perpendicular direction is considered as the ability of track selection, the maximum error estimated in tangential direction is considered as the ability for safety margin estimation (the minINSm distance followed by the neighbor train). In this paper, the DTM tangential error of the GNSS/INS fusion structure is studied using the one-dimensional error converted from commonly used Cartesian coordinate. The TPL (Tangential Protection Limit) are calculated using the multi-sensor-based observation together with integrity concept. The data used in this paper is collected on the newly constructed Jingshen HSR (high speed railway) line. A BDS board-card with a low-cost INS are used together with a precise reference unit.
Published in:	Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018) September 24 - 28, 2018 Hyatt Regency Miami Miami, Florida
Pages:	3409 - 3422
Cite this article:	Lu, Debiao, Han, Xin, Cai, Baigen, Liu, Jiang, "Multi-sensor-based Train Localization Integrity Monitoring Aided with Digital Track Map," Proceedings of the 31st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2018), Miami, Florida, September 2018, pp. 3409-3422. https://doi.org/10.33012/2018.16076
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