Map Supported Train Localization

Andreas Wenz, Roman Ehrler, Sebastian Ohrendorf-Weiss

Peer Reviewed

Abstract:	Enhanced train-borne localization is a necessary enabler for moving block operations, allowing higher capacities on existing lines while reducing the need for trackside equipment. We present an approach using digital track data together with an inertial navigation system, wheel odometry and GNSS Doppler velocity measurements to estimate the distance traveled and speed of a train avoiding the use of GNSS-based positioning. The presented algorithm uses a Moving Horizon Estimator which fuses vector-based continuous map data with sensor data to estimate the position and velocity of a train. Results show promising performance with root mean square errors of 2.8 m for the distance and 0.061 m/s for the speed estimation.
Published in:	Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022) September 19 - 23, 2022 Hyatt Regency Denver Denver, Colorado
Pages:	1978 - 1988
Cite this article:	Wenz, Andreas, Ehrler, Roman, Ohrendorf-Weiss, Sebastian, "Map Supported Train Localization," Proceedings of the 35th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2022), Denver, Colorado, September 2022, pp. 1978-1988. https://doi.org/10.33012/2022.18547
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In