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Evaluation of Simultaneous Localization and Calibration of a Train Mounted Magnetometer

Siebler, Benjamin and Lehner, Andreas and Sand, Stephan and Hanebeck, Uwe D. (2021) Evaluation of Simultaneous Localization and Calibration of a Train Mounted Magnetometer. In: Proceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021. ION GNSS+ 2021, 20.-24. Sep. 2021, St. Louis, USA. doi: 10.33012/2021.17900. ISBN 978-093640629-9.

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Abstract

Train localization is a key technology for automating railway traffic and using the railway infrastructure efficiently. Localization must be available independent from the environment and must provide a high accuracy and reliability. A single localization solution most likely will not be able to fulfill this requirement. GNSS for example will not be available in tunnels. In this paper, we therefore investigate an alternative localization method based on position-dependent distortions of the Earth magnetic field. The advantage of this approach is that it is also available in GNSS-denied areas. If GNSS is available, it can be seen as a low-cost method to obtain redundant position information. The work presented here is an evaluation of the algorithm proposed in our prior work [1], in which we showed how an uncalibrated magnetometer can be used to simultaneously estimate the position of a model train and the magnetometer calibration parameters. The evaluation presented in this paper applies the simultaneous localization and calibration algorithm to data measured with two different trains driving on a rural track network in Germany. The evaluation shows that magnetic field based localization using only an uncalibrated magnetometer is also possible in real railway environments.

Item URL in elib:https://elib.dlr.de/143561/
Document Type:Conference or Workshop Item (Speech)
Title:Evaluation of Simultaneous Localization and Calibration of a Train Mounted Magnetometer
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Siebler, Benjaminbenjamin.siebler (at) dlr.deUNSPECIFIED
Lehner, AndreasAndreas.Lehner (at) dlr.dehttps://orcid.org/0000-0003-0141-2747
Sand, StephanStephan.Sand (at) dlr.dehttps://orcid.org/0000-0001-9502-5654
Hanebeck, Uwe D.Karlsruhe Institute of Technology (KIT)UNSPECIFIED
Date:2021
Journal or Publication Title:Proceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.33012/2021.17900
ISBN:978-093640629-9
Status:Published
Keywords:Localization, Magnetometer calibration
Event Title:ION GNSS+ 2021
Event Location:St. Louis, USA
Event Type:international Conference
Event Dates:20.-24. Sep. 2021
Organizer:Institute of Navigation (ION)
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: Siebler, Benjamin
Deposited On:23 Aug 2021 10:14
Last Modified:31 Jan 2023 16:34

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