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Snapshot residual and Kalman Filter based fault detection and exclusion schemes for robust railway navigation

Grosch, Anja and García Crespillo, Omar and Martini, Ilaria and Günther, Christoph (2017) Snapshot residual and Kalman Filter based fault detection and exclusion schemes for robust railway navigation. IEEE. European Navigation Conference (ENC), 10.-12. Mai 2017, Lausanne, Switzerland. DOI: 10.1109/EURONAV.2017.7954171

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Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7954171&isnumber=7954157


Integrating satellite based navigation into the railway standard can enable reliable and cost-efficient railway navigation everywhere. This makes is very attractive for railway. Thus its integration is strongly supported within the European railway evolution program. However, railway environments exhibit many challenges. Local threats are major issues for robust GNSS based railway navigation. They cannot be observed by any augmentation methods and can cause hazardous misleading information. Hence, they form an integrity risk, which needs to be detected and mitigated by the onboard system. We analyze three different approaches suitable for railway: two snapshot approaches exploiting track constraints during or after the GNSS position determination, and a sequential approach using an Extended Kalman Filter. We derive global fault detection and exclusion (FDE) schemes for all three positioning methods. We measure their performance in terms of along track position accuracy and position uncertainty. Additionally, we investigate each scheme's FDE quality in detail and clearly show that the innovation based FDE of the extended Kalman filter has the best performance in terms of along track position, fault detection capability and exclusion gain. All investigations are done via Monte-Carlo simulations. The considered scenario was extracted from data collected during a measurement campaign in Brunswick, Germany.

Item URL in elib:https://elib.dlr.de/113352/
Document Type:Conference or Workshop Item (Speech)
Title:Snapshot residual and Kalman Filter based fault detection and exclusion schemes for robust railway navigation
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
García Crespillo, OmarDLR KNUNSPECIFIED
Date:9 May 2017
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1109/EURONAV.2017.7954171
Page Range:pp. 36-47
Keywords:Railway navigation, Global Navigation Satellite System (GNSS), Fault Detection and Exclusion (FDE), Extended Kalman Filter (EKF), Normalized Innovation Square (NIS)
Event Title:European Navigation Conference (ENC)
Event Location:Lausanne, Switzerland
Event Type:international Conference
Event Dates:10.-12. Mai 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Project Dependable Navigation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Navigation
Deposited By: Grosch, Anja
Deposited On:20 Jul 2017 14:30
Last Modified:04 Dec 2019 12:51

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