Dynamic properties of GNSS/ INS based train position locator for signalling applications

摘要

The paper deals with dynamic properties of GNSS (Global Navigation Satellite System) and INS (Inertial Navigation System) based train position locator (TPL) intended for railway signalling applications. Main attention is paid to the cost-effective on-board train positioning and routing detection on a "dark" track where GNSS SIS (Signal-in-Space) is not temporally available. The route map-matching technique is considered as a key method to improve the accuracy and the reliability of the entire locator system. The double heading differences fully compensating the drift of a gyro are introduced in order to estimate the reliability of the routing decision process by means of Bayes' theorem. The sensor data validation process based on the route map is also discussed. On-board detection of the characteristic elements of the switch is proposed to achieve higher safety standards and reduce cost of signalling. The presented experimental results have been achieved by means of 3 kV DC electric locomotive and computer controlled track rover.