GNSS途絶時の列車位置推定：軌道形状とIMUセンサデータを用いたミニマリストアプローチ
Train Localization During GNSS Outages: A Minimalist Approach Using Track Geometry And IMU Sensor Data
GNSSが使えない状況でも、IMUと軌道地図のルックアップテーブルをパーティクルフィルタに統合し、最大30秒間の途絶中に10m以下の精度で列車位置を推定する手法を提案した。
著者: Wendi Löffler, Mats Bengtsson
分類: cs.RO, eess.SP
原文アブストラクト
Train localization during Global Navigation Satellite Systems (GNSS) outages presents challenges for ensuring failsafe and accurate positioning in railway networks. This paper proposes a minimalist approach exploiting track geometry and Inertial Measurement Unit (IMU) sensor data. By integrating a discrete track map as a Look-Up Table (LUT) into a Particle Filter (PF) based solution, accurate train positioning is achieved with only an IMU sensor and track map data. The approach is tested on an open railway positioning data set, showing that accurate positioning (absolute errors below 10 m) can be maintained during GNSS outages up to 30 s in the given data. We simulate outages on different track segments and show that accurate positioning is reached during track curves and curvy railway lines. The approach can be used as a redundant complement to established positioning solutions to increase the position estimate's reliability and robustness.