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Track Detection in Railway Sidings Based on MEMS Gyroscope Sensors
Department of Signal Theory and Communications, Universitat Politècnica de Catalunya, Campus Nord UPC, 08034 Barcelona, Spain
Department of Automatic Control, Universitat Politècnica de Catalunya, Campus Nord UPC, 08034 Barcelona, Spain
SENER Ingenieria y Sistemas,S.A., Provença 392, 08025 Barcelona, Spain
* Author to whom correspondence should be addressed.
Received: 12 September 2012; in revised form: 9 November 2012 / Accepted: 13 November 2012 / Published: 23 November 2012
Abstract: The paper presents a two-step technique for real-time track detection in single-track railway sidings using low-cost MEMS gyroscopes. The objective is to reliably know the path the train has taken in a switch, diverted or main road, immediately after the train head leaves the switch. The signal delivered by the gyroscope is first processed by an adaptive low-pass filter that rejects noise and converts the temporal turn rate data in degree/second units into spatial turn rate data in degree/meter. The conversion is based on the travelled distance taken from odometer data. The filter is implemented to achieve a speed-dependent cut-off frequency to maximize the signal-to-noise ratio. Although direct comparison of the filtered turn rate signal with a predetermined threshold is possible, the paper shows that better detection performance can be achieved by processing the turn rate signal with a filter matched to the rail switch curvature parameters. Implementation aspects of the track detector have been optimized for real-time operation. The detector has been tested with both simulated data and real data acquired in railway campaigns.
Keywords: track detection; MEMS gyroscope; adaptive matched filtering; railway navigation
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MDPI and ACS Style
Broquetas, A.; Comerón, A.; Gelonch, A.; Fuertes, J.M.; Castro, J.A.; Felip, D.; López, M.A.; Pulido, J.A. Track Detection in Railway Sidings Based on MEMS Gyroscope Sensors. Sensors 2012, 12, 16228-16249.
Broquetas A, Comerón A, Gelonch A, Fuertes JM, Castro JA, Felip D, López MA, Pulido JA. Track Detection in Railway Sidings Based on MEMS Gyroscope Sensors. Sensors. 2012; 12(12):16228-16249.
Broquetas, Antoni; Comerón, Adolf; Gelonch, Antoni; Fuertes, Josep M.; Castro, J. A.; Felip, Damià; López, Miguel A.; Pulido, José A. 2012. "Track Detection in Railway Sidings Based on MEMS Gyroscope Sensors." Sensors 12, no. 12: 16228-16249.