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Bayesian Cramer-Rao Lower Bounds for Magnetic Field-based Train Localization

Siebler, Benjamin and Sand, Stephan and Hanebeck, Uwe D. (2023) Bayesian Cramer-Rao Lower Bounds for Magnetic Field-based Train Localization. In: 2023 IEEE/ION Position, Location and Navigation Symposium, PLANS 2023, pp. 814-820. IEEE Symposium on Position Location and Navigation (PLANS), Monterey, USA. doi: 10.1109/PLANS53410.2023.10140073. ISBN 978-166541772-3. ISSN 2153-3598.

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In this paper, the theoretically achievable accuracy of magnetic field-based localization in railway environments is analyzed. The analysis is based on the Bayesian Cramer-Rao lower bound (BCRLB) that bounds the mean squared error of an estimator from below. The derivation of the BCRLB for magnetic field-based localization is not straightforward because the magnetic field cannot be described by an analytical equation but must be derived from measurements. In this paper we show how the BCRLB can be calculated by fitting a Gaussian process (GP) to magnetometer measurements to obtain an analytical expression of the magnetic field along a railway line. The proposed GP-based BCRLB is evaluated with the magnetic field of a 1 km long track segment. Furthermore, a comparison between the bound and the estimation error of a particle filter shows the sub-optimality of the particle filter for magnetic railway localization.

Item URL in elib:https://elib.dlr.de/194207/
Document Type:Conference or Workshop Item (Speech)
Title:Bayesian Cramer-Rao Lower Bounds for Magnetic Field-based Train Localization
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sand, StephanUNSPECIFIEDhttps://orcid.org/0000-0001-9502-5654UNSPECIFIED
Hanebeck, Uwe D.Karlsruhe Institute of Technology (KIT)UNSPECIFIEDUNSPECIFIED
Journal or Publication Title:2023 IEEE/ION Position, Location and Navigation Symposium, PLANS 2023
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 814-820
Keywords:Cramer-Rao Lower Bounds, Magnetic Field-based Train Localization
Event Title:IEEE Symposium on Position Location and Navigation (PLANS)
Event Location:Monterey, USA
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:other
DLR - Research area:Transport
DLR - Program:V - no assignment
DLR - Research theme (Project):V - no assignment
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Siebler, Benjamin
Deposited On:10 Mar 2023 15:44
Last Modified:24 Jul 2023 09:50

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