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Bayesian Train Localization Method Extended By 3D Geometric Railway Track Observations From Inertial Sensors

Heirich, Oliver and Robertson, Patrick and Cardalda Garcia, Adrian and Strang, Thomas (2012) Bayesian Train Localization Method Extended By 3D Geometric Railway Track Observations From Inertial Sensors. In: 15th International Conference on Information Fusion, FUSION 2012. 15th International Conference on Information Fusion, 9.-12. Jul. 2012, Singapore.

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Abstract

Train localization is safety critical and requires a highly robust, accurate and track selective localization. The proposed approach focuses on an on-board localization system using appropriate onboard sensors without any additional railway infrastructure. Satellite navigation systems (GNSS) are very beneficial for this task, but the accuracy, measurement errors and the lack of availability in parts of the railway environment do not fulfill the requirements for a safety-of-life railway system. An inertial measurement unit (IMU) is used to increase robustness and accuracy, by sensing the position related effects of 3D track geometry on the train. In order to cope with multiple sensors, position related uncertainties and sensor errors, we propose probabilistic approach with a Bayesian filter. In this paper we present a train localization approach using a particle filter fusing multiple on-board train sensors measurements with a known track map. The particle filter estimates a topological position directly in the track map.

Item URL in elib:https://elib.dlr.de/75636/
Document Type:Conference or Workshop Item (Speech)
Title:Bayesian Train Localization Method Extended By 3D Geometric Railway Track Observations From Inertial Sensors
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Heirich, Oliveroliver.heirich (at) dlr.dehttps://orcid.org/0000-0001-5191-5997
Robertson, PatrickUNSPECIFIEDUNSPECIFIED
Cardalda Garcia, AdrianUNSPECIFIEDUNSPECIFIED
Strang, ThomasUNSPECIFIEDUNSPECIFIED
Date:9 July 2012
Journal or Publication Title:15th International Conference on Information Fusion, FUSION 2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Train Localization, Navigation, Bayesian Multisensor Fusion
Event Title:15th International Conference on Information Fusion
Event Location:Singapore
Event Type:international Conference
Event Dates:9.-12. Jul. 2012
Organizer:International Society of Information Fusion (ISIF)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Traffic Management (old)
DLR - Research area:Transport
DLR - Program:V VM - Verkehrsmanagement
DLR - Research theme (Project):V - Railway Collision Avoidance System (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Heirich, Oliver
Deposited On:02 Jul 2012 10:26
Last Modified:31 Jul 2019 19:36

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