Satellite based train positioning using three-dimensional track maps

Abstract

In order to apply satellite positioning to train control, an algorithm for positioning was developed with a one-dimensional constraint condition using line coordinate data and multipath error reduction using the given value, different physical phenomena, and satellite redundancy. The positioning performance was evaluated using the positioning satellite observational data acquired on operating lines, confirming that large errors were reduced and that there fewer drops in the positioning rate quality. The algorithm was then transferred to the embedded system and confirmation was obtained that 10 Hz real-time positioning could be performed.