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Bayesian GNSS/IMU Tight Integration for Precise Railway Navigation on Track Map

Garcia Crespillo, Omar and Heirich, Oliver and Lehner, Andreas (2014) Bayesian GNSS/IMU Tight Integration for Precise Railway Navigation on Track Map. Position Location and Navigation Symposium (PLANS), Monterey, USA.

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Abstract

The localization of a train on a railway network with onboard sensors has been usually tackled by matching an estimated position fix on a track map. In this paper, we face the navigation problem directly in the topological domain of the map without computing an initial global position. We develop a tightly coupled scheme to fuse the raw measurement of Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU) and the information of a digital track map. We model this problem using a Dynamic Bayesian Network (DBN) and we derive a particle filter to handle the discrete and nonlinear nature of the map in the estimation process and to detect the correct path after a train switch. Real measurements are finally used to test the method and analyze the role of raw GNSS measurements and satellite geometry in precision. Results suggest that reliable navigation can be achieved even when less than four satellites are in view

Item URL in elib:https://elib.dlr.de/89237/
Document Type:Conference or Workshop Item (Speech)
Title:Bayesian GNSS/IMU Tight Integration for Precise Railway Navigation on Track Map
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garcia Crespillo, Omaromar.garciacrespillo (at) dlr.deUNSPECIFIED
Heirich, Oliveroliver.heirich (at) dlr.deUNSPECIFIED
Lehner, AndreasUNSPECIFIEDUNSPECIFIED
Date:2014
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Railway navigation, Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU), Bayesian estimation, particle filtering
Event Title:Position Location and Navigation Symposium (PLANS)
Event Location:Monterey, USA
Event Type:international Conference
Organizer:IEEE / ION
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Next Generation Train III (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Institute of Communication and Navigation > Navigation
Deposited By: Garcia Crespillo, Omar
Deposited On:22 Jul 2014 11:33
Last Modified:11 May 2015 09:20

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