Liu, Dan and Jiang, Wei and Cai, Baigen and Heirich, Oliver and Wang, Jian and Wei, Shangguan (2023) Robust train localisation method based on advanced map matching measurement-augmented tightly-coupled GNSS/INS with error-state UKF. Journal of Navigation. Cambridge University Press. doi: 10.1017/S0373463323000097. ISSN 0373-4633.
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Official URL: https://doi.org/10.1017/S0373463323000097
Abstract
This paper presents a robust train localisation system by fusing a Global Navigation Satellite System (GNSS) with an Inertial Navigation System (INS) in a tightly-coupled (TC) strategy. To improve navigation performance in GNSS partly blocked areas, an advanced map-matching (MM) measurement-augmented TC GNSS/INS method is proposed via an error-state unscented Kalman filter (UKF). The advanced MM generates a matched position using a one-step predicted position from a UKF time update step with binary search algorithm and a point–line projection algorithm. The matched position inputs as an additional measurement to fuse with the INS position to augment the degraded GNSS pseudorange measurement to optimise the state estimation in the UKF measurement update step. Both the real train test on the Qinghai–Tibet railway and the simulation were carried out and the results confirm that the proposed advanced MM measurement-augmented TC GNSS/INS with error-state UKF provides the best horizontal positioning accuracy of 0 ⋅ 67 m, which performs an improvement of about 71% and 90% with respect to TC GNSS/INS with only error-state UKF and only error-state Extended Kalman filter in GNSS partly blocked areas.
Item URL in elib: | https://elib.dlr.de/195107/ | ||||||||||||||||||||||||||||
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Document Type: | Article | ||||||||||||||||||||||||||||
Title: | Robust train localisation method based on advanced map matching measurement-augmented tightly-coupled GNSS/INS with error-state UKF | ||||||||||||||||||||||||||||
Authors: |
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Date: | 15 May 2023 | ||||||||||||||||||||||||||||
Journal or Publication Title: | Journal of Navigation | ||||||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||||||
DOI: | 10.1017/S0373463323000097 | ||||||||||||||||||||||||||||
Publisher: | Cambridge University Press | ||||||||||||||||||||||||||||
ISSN: | 0373-4633 | ||||||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||||||
Keywords: | Railway, GNSS, INS, tightly-coupled, UKF, Error state Kalman filter, | ||||||||||||||||||||||||||||
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 - TraCo - Train Control and Management | ||||||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institutes and Institutions: | Institute of Communication and Navigation > Communications Systems | ||||||||||||||||||||||||||||
Deposited By: | Heirich, Dr.-Ing. Oliver | ||||||||||||||||||||||||||||
Deposited On: | 01 Jun 2023 14:53 | ||||||||||||||||||||||||||||
Last Modified: | 01 Jun 2023 14:53 |
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