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Localization of Trains and Mapping of Railway Tracks

Heirich, Oliver (2020) Localization of Trains and Mapping of Railway Tracks. Dissertation, Technische Universität München.

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Official URL: http://mediatum.ub.tum.de/?id=1495916

Abstract

Train localization with exclusive onboard sensors is a key technology for the next generation of digital railway applications. Onboard train localization uses train mounted sensors as well as a digital map of the railway tracks. The main requirements are continuous availability and track-selectivity. This thesis comprises an analysis of track feature measurements from the onboard sensors: GNSS (global navigation satellite system), IMU (inertial measurement unit), and magnetometer. Three train localization methods are presented and evaluated: a simple map-match method, a probabilistic particle filter method and a probabilistic multiple hypothesis tracker method. Finally, a simultaneous localization and mapping method for railways, called RailSLAM, is presented and the created track map is analyzed.

Item URL in elib:https://elib.dlr.de/137084/
Document Type:Thesis (Dissertation)
Title:Localization of Trains and Mapping of Railway Tracks
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Heirich, Oliveroliver.heirich (at) dlr.dehttps://orcid.org/0000-0001-5191-5997
Date:9 July 2020
Journal or Publication Title:Print: Verlag Dr.Hut, München ISBN 978-3-8439-4561-5, Online: http://mediatum.ub.tum.de/?id=1495916
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:227
Status:Published
Keywords:train localization, track mapping, digital track map, sensor fusion, particle filter, Kalman filter, Bayesian, SLAM, GNSS, IMU, magnetometer, magnetic signature
Institution:Technische Universität München
Department:Lehrstuhl für Kommunikation und Navigation
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Rail Transport
DLR - Research area:Transport
DLR - Program:V SC Schienenverkehr
DLR - Research theme (Project):V - NGT BIT
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Heirich, Oliver
Deposited On:04 Dec 2020 12:19
Last Modified:04 Dec 2020 12:19

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