Author(s)

B.Cai & X.Wang

Abstract

Train positioning via integration and fusion of GPS and inertial sensors B.Cai&X.Wang Dept. of Communications & Control Engineering, Northern Jiaotong University. Beijing, P. R. China, 100044 Abstract As new ATC and block system advanced, the accuracy of train position is required increasingly. Especially for the high-speed railway, train position is updating rapidly. One sensor source is not reliable. Instead we use multi-sensors to realize reliable and real-time positioning for the critical train control. In order to verify the feasibility of the proposed method, we selected GPS (for ablolute positioning) and inertial sensors (for relative positioning) as the different test sensors. For inertial sensors, we use gyroscopes and accelerometers to measure travel direction and distance respectively. GPS has good low-frequency behavior, but poor high-frequency behavior. Inertial sensors (and dead-reckoning) have the opposite characteristics. By using their complementary charact

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