Assessment of Various Integrated Navigation Systems for the Toronto Transit System

M. Abd El-Gelil, A. El-Rabbany

Abstract:	Currently, the Toronto Transit Commission (TTC) operates nearly 1500 buses, all equipped with Dead Reckoning (DR) systems that are used for locating the buses in real-time. In addition, a total of 730 radio beacon transmitters (signposts) are placed at known locations along the bus routes to account for the drift of the DR system sensors, namely the odometers and gyroscopes. Unfortunately, this system has a number of limitations, which reduces the operational efficiency of the TTC system. This paper proposes a low-cost, multisensor integrated navigation system, which overcomes the limitations of the current conventional system. The integrated system combines a low-cost autonomous GPS system with the existing DR and signpost systems. An optimal positioning solution is obtained using Kalman filtering technique, which utilizes all the available sensor information. The biases of the conventional sensors are modeled as first order Gauss-Markov process and random walk for the odometer scale factor error and the heading rate error, respectively. In addition, we take advantage of the frequent bus stops to estimate the gyro bias. The signposts are used as reference stations to account for any unmodeled GPS/DR residual errors. Comparisons between the proposed integrated system and the various sensor combinations are presented.
Published in:	Proceedings of the 2003 National Technical Meeting of The Institute of Navigation January 22 - 24, 2003 Disneyland Paradise Pier Hotel Anaheim, CA
Pages:	630 - 635
Cite this article:	El-Gelil, M. Abd, El-Rabbany, A., "Assessment of Various Integrated Navigation Systems for the Toronto Transit System," Proceedings of the 2003 National Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2003, pp. 630-635.
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