Stefan Hensel

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Precise localization of rail vehicles is a key element toward the development and deployment of novel train control systems that offer enhanced security and efficiency. Typically, research on train navigation systems approaches this task either by data fusion of an increasing number of onboard sensors or by additional infrastructure installations that are(More)
Accurate localization is a fundamental component of driver-assistance systems and autonomous vehicles. For path-constrained motion, a map offers significant information and assists localization with valuable information about the evolution of the kinematic vehicle states. We propose natural parameterized cubic spline curves to approximate true motion(More)
The basis for map assisted moving target tracking is a correct and up-to-date representation of the environment. In this contribution a method is proposed to model curved structures, e.g. roads or tracks, with cubic spline curves. The unknown model parameters are estimated based on corrupted measurements using a probabilistic approach. In particular, the(More)
In the domain of rail vehicles a robust localization is a fundamental precondition for reasonable actions within operating systems. In addition to reliable sensor measurements an efficient and precise localization is highly dependent on accurate map information. In that context digital maps are often not available in the required quality. Key focus of this(More)
A reliable and precise velocity measurement is an important component of new train location systems. Several ways of measurement, e.g. with an optical sensor, GPS and eddy current sensors have already been under examination. This paper covers the velocity determination via correlation analysis using the measurement data of an eddy current sensor system. The(More)
Robust localization is a fundamental component of autonomous vehicles. In that context essential information has to be provided by a sufficient selection of sensor observations. In case of land-based road-constrained motion a map offers significant information and assists localization with valuable information about the evolution of the kinematic vehicle(More)
In automotive domain localization is typically performed through fusion of observations e.g. GPS positions and roadmaps. A transfer of these strategies to rail vehicle positioning is often impossible, because geometric track maps are not available. Key focus of this contribution is the enlargement of given topological track maps with geometric features, to(More)
Localization of rail vehicles is fundamental for any autonomous systems to perform tasks in logistics or personal transport. This contribution presents a novel onboard localization system, based on an eddy current sensor system (ECS), that is capable of a precise train localization when combined with a simple topological map. In contrary to commonly applied(More)
Precise train localization is a prerequisite for any efficient security and disposition tasks in modern transportation systems. In contrast to airplanes or ships, the localization of a train is not satisfyingly solvable with satellite systems. Occlusions in urban areas, tunnels and forests enforce the application of diverse sensor principles or cost(More)
Quite recently, in a major American journal on electrical engineering education, a rather forceful suggestion was made for (re)integrating Heaviside's operational calculus in the training of electrical engineers. The author stressed the better physical motivation of this method, its conceptual parallelism to the well-known complex number method in AC(More)