The Doppler effect caused by the rapid movement of high-speed rail services has a great impact on the accuracy of train positioning and speed measurement. Existing train positioning algorithms require a large number of trackside equipment and sensors, resulting in high construction and maintenance costs. Aiming to solve the above two problems, this article proposes a train positioning algorithm based on orthogonal time–frequency space (OTFS) modulation and integrated sensing and communication (ISAC). Firstly, based on the OTFS, the positioning and speed measurement architecture of communication awareness integration is constructed. Secondly, a two-stage estimation (TSE) algorithm is proposed to estimate the delay Doppler parameters of HST. In the first stage, a low-complexity coarse grid search is used, and in the second stage, a refined off-grid search is used to obtain the delay Doppler parameters. Then, the time difference of arrival/frequency difference of arrival (TDOA/FDOA) algorithm based on multiple base stations is used to locate the target, the weighted least square method is used to calculate the location, and the Cramér–Rao lower bound (CRLB) for positioning and speed measurement is derived. The simulation results demonstrate that, compared to GNSS/INS and OFDM radars, the algorithm exhibits enhanced positioning and speed measurement accuracy.
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