Bayesian GNSS/IMU tight integration for precise railway navigation on track map

@article{Crespillo2014BayesianGT,
  title={Bayesian GNSS/IMU tight integration for precise railway navigation on track map},
  author={Omar Garcia Crespillo and Oliver Heirich and Andreas Lehner},
  journal={2014 IEEE/ION Position, Location and Navigation Symposium - PLANS 2014},
  year={2014},
  pages={999-1007}
}
The localization of a train on a railway network with onboard sensors has been usually tackled by matching an estimated position fix on a track map. In this paper, we face the navigation problem directly in the topological domain of the map without computing an initial global position. We develop a tightly coupled scheme to fuse the raw measurement of Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU) and the information of a digital track map. We model this problem… CONTINUE READING

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