Safe Position Estimation for Train-borne Localisation using INS and Digital Map Data

Andreas Wenz and Ohrendorf-Weiss

Peer Reviewed

Abstract:	We present a framework to generate validated, global navigation satellite system (GNSS) based, safe position estimates for a train-borne localisation system. This is done by using digital map data together with data from an inertial navigation system (INS) aided by a GNSS receiver and a wheel tachometer. By comparing certain map features with estimates of these features provided by the INS, additional position estimates can be calculated. Within this framework different position estimates can be validated against each other, even if their positioning errors are partially correlated. The resulting safe position estimates can then be used for safe localisation on the railway network. We use data from two different quality INS installed on our measurement wagon to test our approach. The data recorded covers most of the Swiss normal gauge railway network. The results indicate, that the method allows the generation of validated reference points on most of the track lines, especially on regional lines with high variablity in the track features. Based on detailed digital map data a high accuracy and robustness of the reference points can be reached even in sections with low GNSS coverage.
Published in:	Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) September 20 - 24, 2021 Union Station Hotel St. Louis, Missouri
Pages:	2363 - 2372
Cite this article:	Wenz, Andreas, Ohrendorf-Weiss,, "Safe Position Estimation for Train-borne Localisation using INS and Digital Map Data," Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021), St. Louis, Missouri, September 2021, pp. 2363-2372. https://doi.org/10.33012/2021.17932
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