Abstract
The Institute for Rail Vehicles and Materials Handling Technology of RWTH Aachen University has built a railway test vehicle which can perform automatic movements with sophisticated motion and localization sensors. To expand test capabilities for odometry and assistant applications, test drives are represented in a modular co-simulation and based on domain specific simulation programs.In order to map the complex structures of the test set-up, the basic architecture of rail transport is simulated in functional modules with standardized interfaces.The railway mechanics are modelled in Multibody Simulation (MBS), with their vehicle components and sensors as modules in MATLAB/Simulink. Scenario control is implemented by a functional ETCS (European Train Control System) infrastructure with control center, interlocking block, radio block center and on-board unit. Change of route by changing a switch is handled with an automatic track generator and restarting simulation at current position. 3D repositioning is achieved by a virtual milestone approach.The vehicle sensors of the scientific test set-up are included as sensor modules. The GNSS sensor module is functionally modelled as space segment and user segment. For each sensor module a sensor-error module with possible activation of specified fault state can be used by analyzing algorithm robustness.The co-simulation is used as the development platform for odometry algorithms as well as vehicle and vehicle-infrastructure investigations. The presented co-simulation and models are validated by measurements of the reference rail vehicle IFS-Erprobungstrager 1. Test runs can be traced in the simulation and enriched by additional or intentionally defective simulated sensor signals.This simulation environment, allows more intense, more flexible and independence of test options to perform function development for applications in the topic of localization, odometry and rail assistance systems.
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