A train localization algorithm for train protection systems of the future

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Engineering

A TRAIN LOCALIZATION ALGORITHM FOR TRAIN
PROTECTION SYSTEMS OF THE FUTURE
ABSTRACT
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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