全球导航卫星系统应用
保险丝(电气)
计算机科学
实时计算
传感器融合
磁道(磁盘驱动器)
概率逻辑
卫星系统
全球定位系统
全球导航卫星系统增强
算法
工程类
人工智能
电信
电气工程
操作系统
作者
Martin Lauer,Denis Stein
出处
期刊:IEEE Transactions on Intelligent Transportation Systems
[Institute of Electrical and Electronics Engineers]
日期:2014-01-01
卷期号:: 1-10
被引量:49
标识
DOI:10.1109/tits.2014.2345498
摘要
This paper describes an algorithm that enables a railway vehicle to determine its position in a track network. The system is based solely on onboard sensors such as a velocity sensor and a Global Navigation Satellite System (GNSS) sensor and does not require trackside infrastructure such as axle counters or balises. The paper derives a probabilistic modeling of the localization task and develops a sensor fusion approach to fuse the inputs of the GNSS sensor and the velocity sensor with the digital track map. We describe how we can treat ambiguities and stochastic uncertainty adequately. Moreover, we introduce the concept of virtual balises that can be used to replace balises on the track and evaluate the approach experimentally. This paper focuses on an accurate modeling of sensor and estimation uncertainties, which is relevant for safety critical applications.
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