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International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 50
IoT Based Multisensory System to Enhance Railway Safety
Rushikesh H. Shilankar1, Prajakta S. Sahare2, Prof. K. S. Khandare3
1,2,3Dept. of Electronics & Telecommunication Engineering, DES’s College of Engineering & Technology
Dhamangaon (Rly), Maharashtra, India
---------------------------------------------------------------------***----------------------------------------------------------------------
Abstract - Due to the continuous development of the high-
speed railway lines and the growth of automatic systems, it is
becoming more and more necessary to install safety elements
to prevent accidents. For that purpose, this project proposes
the design of a multisensory system, which consist of infrared
(IR) and ultrasonic (US) sensors, which are placedatopposing
sides of the railway tracks, respectively, in order to establish
optical and acoustic links between them. When the train
arrives at the particular location then the details about that
train will be given from the database. Now, check the train
details, if match then and only then, the parameters will be
measured and the speed of train regardingtothatparameters
will be sent to the loco pilots display. In the parameters, this
project measures the rainfall in mm, temperature, fog,
humidity and route vibrations. Also, the time required that
present train to pass that location will be measured. On the
basis of these all parameters, the allowable speed of the train
at that particular location will be sent to the loco pilot. In
addition, all these information will be sent to the database.
Now, information about train will be sent to another train
which will be next arrived at that location. If there is any
change in parameters, then according to that parameters
allowable speed of train will send to that trains loco pilot.
Thus, with the help of multisensorysystem, wecanenhance the
railway safety.
Key Words: Internet of Things, Smart railway,Condition
based maintenance, Power consumption, Coverage
1. INTRODUCTION
Railway has been playing a important role of public
transportation from19’thcentury,inthisa steamlocomotive
began to be run. From that moment, the railway was
regarded as a core method to transport population moving
along the determinant paths within and between
metropolitan cities. The basic technology of the railway has
been so far progressed and enables a high-speed railway
system which satisfies the public demand ontravelinga long
distance. The railway possesses the inherent characteristics
of huge capacity and energy efficiency, and those merits
motivate the governments of many countries to encourage
and support the railwayforpublic interest.Thegovernments
take into account the railway vital once they establish
transport policies. One of the important problem forrailway
operators is maintenance of their railway systems. As the
railway system content of various entities including train
vehicles, tracks, facilities (i.e. tunnels and bridges),
catenaries and electrical devices in trackside. It is necessary
for the railway operators to guarantee that every entity of
the railway system operates in good condition. Any
operational damage are supposed to be strictly prevented,
because an unexpected fault may threat the security of
passengers. Due to this fact, the government forces the
railway operators tototallyengagethemselvesinconducting
the maintenance.
Securing safety of passengers is a very important
task to train operating company. To date, many different
approaches have appeared. In thiswork,twoapproachesare
introduced. First approach is based on integrated use of
multiple sensors. These sensors provide location
information with much more increased precision. These
approaches can be used with other methods to provide
elevated level of safety to passengers.
Recent trend of railway train development can be
characterized in several aspects: high speed, infotainment,
intelligence in driving, and so on. In specific, trend of high
speed in driving is prominent and competition for high
speed amongst several techno-savvy countries is becoming
severe. To achieve high speed, engines or motors are
distributed over multiple vehicles of train to provide
increased motive power, while a single engine or motor has
been mostly used for conventional trains. Increased speed
and more complicated power train system naturally incur
much higher chance of massive accidents. From this angle,
importance of proactive safety control before accidenttakes
place cannot be over-emphasized. To implement proactive
safety management needs situation-aware integration and
transmission of safety info obtained from IoTsensors.Types
of essential IoT sensors depend upon situational conditions.
Thus, integration and transmission of safety info oughttobe
performed with IoT sensors providing the security info
correct for long-faced state of affairs. This work istodevisea
methodology how to operate IoT sensor network enabling
proactive safety control for railway vehicles.
1.1 Motivation
While railway technology has evolved slowly over the
last two hundred years, future few years might bring bigger
transformation to the railways, and at a bigger pace than we
tend to have seen within the past as railway operators begin
to adopt net of Things technologies. This paper outlines a
number of the innovations that we tend to might even see
within the railways - and specifically on board trains - and
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 51
therefore the options of the electronic hardware that will be
required to deliver these forms of services.
We will examine however the surroundings on board a
moving train differs from the everyday operational
surroundings for associate IT or electronic system, and
description four key factors that must be thought-about
within the style of electronic systems which will be used on
board a moving train.
1.2 Literature Review
An automatic train protection is one that helps to
anticipate collisions with speed restrictions and applying
brakes. To boost the system availableness inside the on the
market the web of Things may be a system that permits
varied physical devices, sensible devices, vehicles
additionally referred to as connected devices that are
interconnected with each other via internet. IoT consists of
varied softwares, sensors that enables to collect and
exchange data. It enables the connected devices to collect
data and exchange them. IoT creates direct communication
of the existing physical world intothecomputersystems. IoT
provides the aptitude that allows the objects to be remotely
monitored, controlled and sensed across the network due to
which there is improved efficiency, accuracy, less human
intervention and a lot of dependability as a result there are
economic advantages likewise The factor word employed in
IoT can be Associate in Nursing objectthathavethepowerto
gather and transfer data over a network while not manual
intervention or help. Internet of things will connect
completely differentdevicesthat areembeddedin numerous
systems to the net. These devicesareappointedIPaddresses
to unambiguously establish them. Eg. Automobiles with in-
built sensors to trace their location. The property thenhelps
North American nation capture additional informationfrom
additional places, guaranteeing additional ways in which of
skyrocketing potency and up safety and IoT security. The
organizations can be benefitted a lot by IoT as they can help
them in improved process efficiency,utilizationofassetsand
productivity. With the ability to connect various devices or
objects using sensors and connectivity, they can prove to be
beneficial from real timeinsightsandanalytics.,whichwould
help them make smarter decisions.
1.3 Evaluation
1.3.1 Internet of Today
Manufacturers are connecting things to before we
referred to as it the web. By the mid-1990s, Web servers
were being added to embedded products. Current M2M
makers are desegregation Internet-connected systems into
high-value plus trailing, alarm systems, fleet management
and the like for more than 15 years. These M2M systems
area unit difficult to create despite the fact that some area
unit supported trade commonplace protocols. However, it's
obtaining easier to integrate M2M systems as additional
powerful processors area unit incorporated into the tip
nodes. And since these processors support high-level in
operation systems (OSes) and languages, the platform can
leverage intelligent frameworks. These systems area unit
generally tied into high-end business servicelayersandarea
unit managed by a network operations center (NOC).
1.3.2 IoT of Tomorrow
The edifice wherever I even have a reservation is
aware of I am returning and also the approximate time of
my arrival as a result of I even have allowed Apple and
Google to trace my location. It also knows that I am hot and
sweaty from my trip because of the temperature and
moisture sensors that are part of my smart watch. The
bedroom i'll keep in is presently dormant (no lights, drapes
closed, the temperature is at optimized dormant levels).
Upon my arrival, the valet is aware of it's Pine Tree State. He
opens my door and also the automobile adjusts the seat as a
result of it detects the valet. My preferenceis toholdmyvery
own bag, thus I am not accosted by the supervisor. Once in
proximity of the edifice lobby, a secure key app is on the
market on my smartphone. By the time I reach the elevator,
the space temporary worker has adjusted to coincide with
my smart watch sensors. The light level, music and privacy
settings are to my necessities. Because I am hot and
perspiring the space conjointly prepares quandary for a
shower I’ll most likely take when getting in the space. As I
approach, the secure key app unlocks the space door. Once
settled for the night, {the room the space the are}detectsthe
lights are clothed, it changes the temperature setting to my
sleep preferences. In this situation, each space during this
explicit edifice chain has multiple sensors and actuators.
Every rental car has multiple sensors and actuators. I am
sporting multiple sensors and actuators, like a watch
vibration for alerts. I amnotinteracting withmysmartphone
touch screen perpetually to direct these connected things to
require actions even supposing it's one entrance for my
activity. There will be uncountable individuals doing this on
a daily basis. We will be living IN the data. This vision of IoT
won't happen at once. The scale needed can solely be
achieved by making a lowest common divisor,
straightforward electronic communication theme that
everybody on the world can conform to. It will have to be
digitally organic, imitating nature. At present, technology
protocols and knowledge structures are restricted by their
style complexness additionally as security, extensibility,and
much more. Our connected devices canhavetobecompelled
to become easier to use even supposing the complexness of
the devices can increase. The line between analoganddigital
will blur. Every person on the world are ready to “author”
his or her own life atmosphere, even supposing they
apprehend essentially nothing regarding the underlying
technology.
International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 52
2. Block Diagram
Fig -1 Proposed System Architecture for transmitter
When a train begins its operation, it needs to
perform self-diagnosis to ensure initial safety control.When
it is in operation (in driving), various typesofIoTsensorsfor
monitoring collectdata toproactivelyperformsafetycontrol.
Interior IoT sensors, suchashumiditysensorandfiresensor,
for regular monitoring can take constant orclosetoconstant
data collection rates. Communication network within a
vehicle can be formed in a combination of wired and
wireless connections of IoT sensors. Some of the IoT sensor
data are utilized for actuators without data transmission to
external network and other data collected from sensors are
transmitted to external network. To deliver the IoT sensor
data in an orderly manner, a single or multiple gatewaysofa
train to outside communication networks. The all collected
data in sensors are transmitted tocloudserverthrough node
MCU. This architecture is beneficial when the number of
sensors is large and coverage of whole sensor network is
also large to some extent.
Channel access for IoT sensor network can be
prioritized according to data type and the priority of sensor
data depends on situation even whentheyareobtainedfrom
the same sensor. Safety-critical IoT sensor data can be
immediately transmitted to the external network by
assigning a higher priority in contentionorspecial timeslots
or even a separate gateway. In transmitter sideall thedata is
transmitted to receiver thing speak server and it shows the
data in LCD to the railway pilot.
Fig-2 Proposed System Architecture for receiver
3. CONCLUSION
In this paper, a configuration is planned that may
avoid the accidents that may be caused thanks to the broken
tracks. Since with the enlargement of railways and large
increase in variety of trains the main drawback rising is that
the maintenance of the tracks. With the upper frequency of
trains running on tracks the possibilities of developing
damages within the tracks are terriblyhigh.Solelybetting on
manual work is time taken and typically may also be life
risky. Also with the restricted variety of workers it's terribly
tough to spot the matter and solve it in restricted time. Since
the railway networks are terribly wide swollen with
restricted manpower so the possibilities are terribly high
that tracks fractures might get forgotten. If these harm gets
unheeded then a serious mishap might occur. IoT and cloud
computing are 2 major advancements within thetechnology
that may facilitate solve this drawback. This technologyisn't
solely reliable however conjointly value effective as
compared to manual expenses. Since this technology would
cost a good amount therefore it can be implemented in the
regions where the train frequency is very high as they are
very prone to develop fractures. For example in Cities. In
rural areas where trains frequency is very less and thus
chances of rail fracture is very low, manual work may
success.
REFERENCES
[1] Gautam S, Nemade S, Sakla T. Simulation of an anti-
collision system for railways on same track.
International Journal of Engineering and
Technology(IJST). 2010; 2(9):483237.
[2] Senthil Kumar P, Nadira Banu AR Kamal. Optimal
Integrity Policy for Encrypted Data using Cloud
Computing in Secure Storage. Indian Journal of Science
and Technology (IJST). 2016 March; 9(11):110
[3] John Livingston J, Umakeshwari A. Internet of Things
(IoT) ApplicationusingIPaddressenabledSensorNode
and Web Server. Indian Journal of Science and
Technology (IJST). 2015 May; 8(S9):20712.
[4] A Noureldin, et al., “Performance Enhancement of
MEMS-Based INS/GPS Integration for Low-Cost
Navigation Applications”, IEEETrans.V.T.,vol.58,no.3,
pp.1077-1096, Mar. 2009.
[5] M Malvezzi, et al., “A localization algorithm for railway
vehicles based on sensor fusion between tachometers
and inertial measurement units”, Proc. of Inst. Mecha.
Engine. Part F: Journal of Rail and Rapid Transit,
vol.228, no.4, pp.431-448, Apr. 2013.

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  • 1. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 50 IoT Based Multisensory System to Enhance Railway Safety Rushikesh H. Shilankar1, Prajakta S. Sahare2, Prof. K. S. Khandare3 1,2,3Dept. of Electronics & Telecommunication Engineering, DES’s College of Engineering & Technology Dhamangaon (Rly), Maharashtra, India ---------------------------------------------------------------------***---------------------------------------------------------------------- Abstract - Due to the continuous development of the high- speed railway lines and the growth of automatic systems, it is becoming more and more necessary to install safety elements to prevent accidents. For that purpose, this project proposes the design of a multisensory system, which consist of infrared (IR) and ultrasonic (US) sensors, which are placedatopposing sides of the railway tracks, respectively, in order to establish optical and acoustic links between them. When the train arrives at the particular location then the details about that train will be given from the database. Now, check the train details, if match then and only then, the parameters will be measured and the speed of train regardingtothatparameters will be sent to the loco pilots display. In the parameters, this project measures the rainfall in mm, temperature, fog, humidity and route vibrations. Also, the time required that present train to pass that location will be measured. On the basis of these all parameters, the allowable speed of the train at that particular location will be sent to the loco pilot. In addition, all these information will be sent to the database. Now, information about train will be sent to another train which will be next arrived at that location. If there is any change in parameters, then according to that parameters allowable speed of train will send to that trains loco pilot. Thus, with the help of multisensorysystem, wecanenhance the railway safety. Key Words: Internet of Things, Smart railway,Condition based maintenance, Power consumption, Coverage 1. INTRODUCTION Railway has been playing a important role of public transportation from19’thcentury,inthisa steamlocomotive began to be run. From that moment, the railway was regarded as a core method to transport population moving along the determinant paths within and between metropolitan cities. The basic technology of the railway has been so far progressed and enables a high-speed railway system which satisfies the public demand ontravelinga long distance. The railway possesses the inherent characteristics of huge capacity and energy efficiency, and those merits motivate the governments of many countries to encourage and support the railwayforpublic interest.Thegovernments take into account the railway vital once they establish transport policies. One of the important problem forrailway operators is maintenance of their railway systems. As the railway system content of various entities including train vehicles, tracks, facilities (i.e. tunnels and bridges), catenaries and electrical devices in trackside. It is necessary for the railway operators to guarantee that every entity of the railway system operates in good condition. Any operational damage are supposed to be strictly prevented, because an unexpected fault may threat the security of passengers. Due to this fact, the government forces the railway operators tototallyengagethemselvesinconducting the maintenance. Securing safety of passengers is a very important task to train operating company. To date, many different approaches have appeared. In thiswork,twoapproachesare introduced. First approach is based on integrated use of multiple sensors. These sensors provide location information with much more increased precision. These approaches can be used with other methods to provide elevated level of safety to passengers. Recent trend of railway train development can be characterized in several aspects: high speed, infotainment, intelligence in driving, and so on. In specific, trend of high speed in driving is prominent and competition for high speed amongst several techno-savvy countries is becoming severe. To achieve high speed, engines or motors are distributed over multiple vehicles of train to provide increased motive power, while a single engine or motor has been mostly used for conventional trains. Increased speed and more complicated power train system naturally incur much higher chance of massive accidents. From this angle, importance of proactive safety control before accidenttakes place cannot be over-emphasized. To implement proactive safety management needs situation-aware integration and transmission of safety info obtained from IoTsensors.Types of essential IoT sensors depend upon situational conditions. Thus, integration and transmission of safety info oughttobe performed with IoT sensors providing the security info correct for long-faced state of affairs. This work istodevisea methodology how to operate IoT sensor network enabling proactive safety control for railway vehicles. 1.1 Motivation While railway technology has evolved slowly over the last two hundred years, future few years might bring bigger transformation to the railways, and at a bigger pace than we tend to have seen within the past as railway operators begin to adopt net of Things technologies. This paper outlines a number of the innovations that we tend to might even see within the railways - and specifically on board trains - and
  • 2. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 51 therefore the options of the electronic hardware that will be required to deliver these forms of services. We will examine however the surroundings on board a moving train differs from the everyday operational surroundings for associate IT or electronic system, and description four key factors that must be thought-about within the style of electronic systems which will be used on board a moving train. 1.2 Literature Review An automatic train protection is one that helps to anticipate collisions with speed restrictions and applying brakes. To boost the system availableness inside the on the market the web of Things may be a system that permits varied physical devices, sensible devices, vehicles additionally referred to as connected devices that are interconnected with each other via internet. IoT consists of varied softwares, sensors that enables to collect and exchange data. It enables the connected devices to collect data and exchange them. IoT creates direct communication of the existing physical world intothecomputersystems. IoT provides the aptitude that allows the objects to be remotely monitored, controlled and sensed across the network due to which there is improved efficiency, accuracy, less human intervention and a lot of dependability as a result there are economic advantages likewise The factor word employed in IoT can be Associate in Nursing objectthathavethepowerto gather and transfer data over a network while not manual intervention or help. Internet of things will connect completely differentdevicesthat areembeddedin numerous systems to the net. These devicesareappointedIPaddresses to unambiguously establish them. Eg. Automobiles with in- built sensors to trace their location. The property thenhelps North American nation capture additional informationfrom additional places, guaranteeing additional ways in which of skyrocketing potency and up safety and IoT security. The organizations can be benefitted a lot by IoT as they can help them in improved process efficiency,utilizationofassetsand productivity. With the ability to connect various devices or objects using sensors and connectivity, they can prove to be beneficial from real timeinsightsandanalytics.,whichwould help them make smarter decisions. 1.3 Evaluation 1.3.1 Internet of Today Manufacturers are connecting things to before we referred to as it the web. By the mid-1990s, Web servers were being added to embedded products. Current M2M makers are desegregation Internet-connected systems into high-value plus trailing, alarm systems, fleet management and the like for more than 15 years. These M2M systems area unit difficult to create despite the fact that some area unit supported trade commonplace protocols. However, it's obtaining easier to integrate M2M systems as additional powerful processors area unit incorporated into the tip nodes. And since these processors support high-level in operation systems (OSes) and languages, the platform can leverage intelligent frameworks. These systems area unit generally tied into high-end business servicelayersandarea unit managed by a network operations center (NOC). 1.3.2 IoT of Tomorrow The edifice wherever I even have a reservation is aware of I am returning and also the approximate time of my arrival as a result of I even have allowed Apple and Google to trace my location. It also knows that I am hot and sweaty from my trip because of the temperature and moisture sensors that are part of my smart watch. The bedroom i'll keep in is presently dormant (no lights, drapes closed, the temperature is at optimized dormant levels). Upon my arrival, the valet is aware of it's Pine Tree State. He opens my door and also the automobile adjusts the seat as a result of it detects the valet. My preferenceis toholdmyvery own bag, thus I am not accosted by the supervisor. Once in proximity of the edifice lobby, a secure key app is on the market on my smartphone. By the time I reach the elevator, the space temporary worker has adjusted to coincide with my smart watch sensors. The light level, music and privacy settings are to my necessities. Because I am hot and perspiring the space conjointly prepares quandary for a shower I’ll most likely take when getting in the space. As I approach, the secure key app unlocks the space door. Once settled for the night, {the room the space the are}detectsthe lights are clothed, it changes the temperature setting to my sleep preferences. In this situation, each space during this explicit edifice chain has multiple sensors and actuators. Every rental car has multiple sensors and actuators. I am sporting multiple sensors and actuators, like a watch vibration for alerts. I amnotinteracting withmysmartphone touch screen perpetually to direct these connected things to require actions even supposing it's one entrance for my activity. There will be uncountable individuals doing this on a daily basis. We will be living IN the data. This vision of IoT won't happen at once. The scale needed can solely be achieved by making a lowest common divisor, straightforward electronic communication theme that everybody on the world can conform to. It will have to be digitally organic, imitating nature. At present, technology protocols and knowledge structures are restricted by their style complexness additionally as security, extensibility,and much more. Our connected devices canhavetobecompelled to become easier to use even supposing the complexness of the devices can increase. The line between analoganddigital will blur. Every person on the world are ready to “author” his or her own life atmosphere, even supposing they apprehend essentially nothing regarding the underlying technology.
  • 3. International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056 Volume: 06 Issue: 02 | Feb 2019 www.irjet.net p-ISSN: 2395-0072 © 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 52 2. Block Diagram Fig -1 Proposed System Architecture for transmitter When a train begins its operation, it needs to perform self-diagnosis to ensure initial safety control.When it is in operation (in driving), various typesofIoTsensorsfor monitoring collectdata toproactivelyperformsafetycontrol. Interior IoT sensors, suchashumiditysensorandfiresensor, for regular monitoring can take constant orclosetoconstant data collection rates. Communication network within a vehicle can be formed in a combination of wired and wireless connections of IoT sensors. Some of the IoT sensor data are utilized for actuators without data transmission to external network and other data collected from sensors are transmitted to external network. To deliver the IoT sensor data in an orderly manner, a single or multiple gatewaysofa train to outside communication networks. The all collected data in sensors are transmitted tocloudserverthrough node MCU. This architecture is beneficial when the number of sensors is large and coverage of whole sensor network is also large to some extent. Channel access for IoT sensor network can be prioritized according to data type and the priority of sensor data depends on situation even whentheyareobtainedfrom the same sensor. Safety-critical IoT sensor data can be immediately transmitted to the external network by assigning a higher priority in contentionorspecial timeslots or even a separate gateway. In transmitter sideall thedata is transmitted to receiver thing speak server and it shows the data in LCD to the railway pilot. Fig-2 Proposed System Architecture for receiver 3. CONCLUSION In this paper, a configuration is planned that may avoid the accidents that may be caused thanks to the broken tracks. Since with the enlargement of railways and large increase in variety of trains the main drawback rising is that the maintenance of the tracks. With the upper frequency of trains running on tracks the possibilities of developing damages within the tracks are terriblyhigh.Solelybetting on manual work is time taken and typically may also be life risky. Also with the restricted variety of workers it's terribly tough to spot the matter and solve it in restricted time. Since the railway networks are terribly wide swollen with restricted manpower so the possibilities are terribly high that tracks fractures might get forgotten. If these harm gets unheeded then a serious mishap might occur. IoT and cloud computing are 2 major advancements within thetechnology that may facilitate solve this drawback. This technologyisn't solely reliable however conjointly value effective as compared to manual expenses. Since this technology would cost a good amount therefore it can be implemented in the regions where the train frequency is very high as they are very prone to develop fractures. For example in Cities. In rural areas where trains frequency is very less and thus chances of rail fracture is very low, manual work may success. REFERENCES [1] Gautam S, Nemade S, Sakla T. Simulation of an anti- collision system for railways on same track. International Journal of Engineering and Technology(IJST). 2010; 2(9):483237. [2] Senthil Kumar P, Nadira Banu AR Kamal. Optimal Integrity Policy for Encrypted Data using Cloud Computing in Secure Storage. Indian Journal of Science and Technology (IJST). 2016 March; 9(11):110 [3] John Livingston J, Umakeshwari A. Internet of Things (IoT) ApplicationusingIPaddressenabledSensorNode and Web Server. Indian Journal of Science and Technology (IJST). 2015 May; 8(S9):20712. [4] A Noureldin, et al., “Performance Enhancement of MEMS-Based INS/GPS Integration for Low-Cost Navigation Applications”, IEEETrans.V.T.,vol.58,no.3, pp.1077-1096, Mar. 2009. [5] M Malvezzi, et al., “A localization algorithm for railway vehicles based on sensor fusion between tachometers and inertial measurement units”, Proc. of Inst. Mecha. Engine. Part F: Journal of Rail and Rapid Transit, vol.228, no.4, pp.431-448, Apr. 2013.