The Integration of Differential GPS and Inertial Sensors for Positioning Australian Railways

Mark Judd, Rod MacLeod

Abstract:	In a joint development project between Melbourne University and Sagem Australasia Pty Ltd, a system has been designed that combines differential GPS and inertial sensors to provide relative 3 dimensional position accuracies at the decimetric level. Originally developed to provide track data for the computerised driver training simulator being developed by the Public Transport Corporation of Victoria, Australia, the Rapid Rail Mapping System is now being applied to other projects within the rail industry and to systems for highway management. This paper discusses the special data collection and post-processing methods developed.The system currently uses only C/A code pseudorange data and inexpensive inertial sensors. This is in part due to the extensive preprocessiug of the sensor data before its subsequent modelling in the least squares solution. The result is a massive productivity improvement over existing survey methods, covering up to 200 kms of track per day. Future developments are planned to provide improvements in the GPS and inertial processing to increase the accuracies to the centimetric level.
Published in:	Proceedings of the 6th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1993) September 22 - 24, 1993 Salt Palace Convention Center Salt Lake City, UT
Pages:	1293 - 1301
Cite this article:	Judd, Mark, MacLeod, Rod, "The Integration of Differential GPS and Inertial Sensors for Positioning Australian Railways," Proceedings of the 6th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1993), Salt Lake City, UT, September 1993, pp. 1293-1301.
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