Abstract
Passive magnetic sensors measure the magnetic field density in three axes and are often integrated on a single chip. These low-cost sensors are widely used in car navigation as well as in battery powered navigation equipment such as smartphones as part of an electronic compass. We focus on a train localization application with multiple, exclusively onboard sensors and a track map. This approach is considered as a base technology for future railway applications such as collision avoidance systems or autonomous train driving. In this paper, we address the following question: how beneficial are passive magnetic measurements for train localization? We present and analyze measurements of two different magnetometers recorded on a regional train at regular passenger service. We show promising correlations of the measurements with the track positions and the traveled switch way. The processed data reveals that the railway environment has repeatable, location-dependent magnetic signatures. This is considered as a novel approach to train localization, as the use of these magnetic signals at first view is not obvious. The proposed methods based on passive magnetic measurements show a high potential to be integrated in new and existing train localization approaches.
Highlights
Train localization with exclusively onboard sensors and a track map is considered as a base technology for future railway applications, such as train control without additional track-side equipment, decentralized collision avoidance systems between trains, and autonomous train driving
Global Navigation Satellite System (GNSS) position measurements are useful for train localization, but satellite geometry or reception can be poor or not available parts of the railway environment
This paper addresses the following questions: are the passive magnetic measurements useful for train localization? this paper focuses on a suitability analysis of localization with passive magnetic signatures
Summary
Train localization with exclusively onboard sensors and a track map is considered as a base technology for future railway applications, such as train control without additional track-side equipment, decentralized collision avoidance systems between trains, and autonomous train driving. The train location is defined with a unique identifier of the current track and a longitudinal 1D position on that current track (see [1]) Train localization estimates this location, direction, and the train speed from train-side sensor measurements and a map of the railway environment. There are no additional placed magnets or other markers in the railway environment These sensors are often integrated in automotive and personal navigation equipment, such as smartphones. This paper addresses the following questions: are the passive magnetic measurements useful for train localization? We present additional measurements from a train cabin magnetometer and compare it with the bogie mounted sensor. Elements of train localization based on magnetic signatures are presented with along-track estimation and switch way detection. The results are promising for further implementation in multisensor train localization algorithms
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