Abstract: | We propose a method to localize trains by combining a continuous digital map with inertial measurement and wheel tachometry information. To do this we use kinematic vehicle and digital map models within a Moving Horizon Estimator. This method has the benefit that it does not rely on GNSS and thus is not prone to degradation due to environmental conditions, which are especially challenging in the rail environment. Results show that a train can be localized using this method with a root mean square error of 5m and that the computed confidence intervals accurately envelop the estimation error. |
Published in: |
Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023) September 11 - 15, 2023 Hyatt Regency Denver Denver, Colorado |
Pages: | 2109 - 2122 |
Cite this article: | Wenz, Andreas, Ohrendorf-Weiss, Sebastian, "Tightly Integrated Map Based Train Localization," Proceedings of the 36th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2023), Denver, Colorado, September 2023, pp. 2109-2122. https://doi.org/10.33012/2023.19410 |
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