A Test Rig For Evaluating Odometry Algorithms
Free (open access)
B Allotta, M Malvezzi, L Pugi, M Rinchi, A Rindi, P Toni, A Amore, R Cheli, G Cocci, P Presciani & G Puliatti
Odometry is a fundamental task to perform in modern systems for monitoring and control of trains. However, odometry is a difficult task to perform when wheel/rail adhesion is not good and the train is braking or accelerating. To improve the performance of odometry systems, the use of sensors in addition to axles-mounted encoder-type sensors, such as longitudinal accelerometers and radar Doppler sensors, is being tested on prototype on-board systems, such as the one under development in the framework of the ERTMS project. This paper describes the work being done by the researchers of TRENI- TALIA S.p.A. and of the Section of Applied Mechanics of the University of Florence for the design and realization of a test rig for odometry techniques, in particular for the ERTMS system.