International Global Navigation Satellite Systems
Association
IGNSS Conference 2016
Colombo Theatres, Kensington Campus, UNSW Australia
6 – 8 December 2016
Seamless train localization based on
BDS/INS/odometer/MM multi-sensor navigation
system
Si-Rui Chen
School of Electronics and Information Engineering, Beijing Jiaotong University, P.R. of China
Email: 15120235@bjtu.edu.cn
Wei Jiang
School of Electronics and Information Engineering, Beijing Jiaotong University, Beijing Engineering
Research Center of EMC and GNSS Technology for Rail Transportation, P.R. of China
Email: weijiang@bjtu.edu.cn
Bai-Gen Cai
School of Electronics and Information Engineering, State Key Laboratory of Rail Traffic Control and
Safety, BJTU. Beijing Engineering Research Center of EMC and GNSS Technology for Rail
Transportation, P.R. of China
Email: bgcai@bjtu.edu.cn
Jian Wang
School of Electronics and Information Engineering, Beijing Jiaotong University, Beijing Engineering
Research Center of EMC and GNSS Technology for Rail Transportation, P.R. of China
Email: wangj@bjtu.edu.cn
Wei Shangguan
School of Electronics and Information Engineering, Beijing Jiaotong University, Beijing Engineering
Research Center of EMC and GNSS Technology for Rail Transportation, P.R. of China
Email: wshg@bjtu.edu.cn
ABSTRACT
BeiDou Navigation Satellite System (BDS) has been widely applied in areas
including communication and transportation, emergency rescue, public
security etc., making remarkable benefit in social and economic aspects. The
integration of BDS and Inertial Navigation System (INS) has meant that it
gives greater access to a more consistent and accurate positioning capability
than ever before. However, during the long BDS outages, the performance of
the integration system degrades greatly because of the characteristics of the
Inertial Measurement Unit (IMU) – the sensor error would be accumulated
with time when it operates in a standalone mode. In this paper, a
BDS/INS/odometer/Map-matching (MM) positioning methodology for train
navigation applications is proposed and evaluated by the real test conducted
in the western regions of China. This method is proposed to solve the problem
of train positioning during BDS outages when the trains pass through the
signal obstructed areas, like bridges, tunnels and valleys. The seamless
