An enhanced INS/GNSS integrated system with ODO for train positioning

摘要

Aiming at the problem of the accumulation of positioning errors in the train INS/GNSS system when the satellite signals are lost. An INS/GNSS train positioning integrated system with ODO measurement data is proposed in this paper. A multi-source integrated positioning system is established, which constructed positioning subsystem with ODO and INS. it can be used to reinspect the train positioning system. Experiments has shown that the new system optimized the positioning accuracy of the train when the satellite signal is lost, and improve the stability of the system.