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Sensors 2018, 18(11), 3860; https://doi.org/10.3390/s18113860

DTM-Aided Adaptive EPF Navigation Application in Railways

1
School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China
2
School of Computing, Beijing Jiaotong University, Beijing 100044, China
3
State Key Laboratory of Railway Traffic Control & Safety, Beijing Jiaotong University, Beijing 100044, China
4
Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation, Beijing 100044, China
5
School of Geospatial Science, Royal Melbourne Institute of Technology, Melbourne VIC 3001, Australia
*
Author to whom correspondence should be addressed.
Received: 31 October 2018 / Revised: 3 November 2018 / Accepted: 4 November 2018 / Published: 9 November 2018
(This article belongs to the Section Physical Sensors)
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Abstract

The diverse operating environments change GNSS measurement noise covariance in real time, and different GNSS techniques hold different measurement noise covariance as well. Mismodelling the covariance causes undependable filtering results and even degenerates the GNSS/INS Particle Filter (PF) process, due to the fact that INS error-state noise covariance is much smaller than that of GNSS measurement noise. It also makes the majority of existing methods for adaptively adjusting filter parameters incapable of performing well. In this paper, a feasible Digital Track Map-aided (DTM-aided) adaptive extended Kalman particle filter method is introduced in GNSS/INS integration in order to adjust GNSS measurement noise covariance in real time, and the GNSS down-direction offset is also estimated along with every sampling period through making full use of DTM information. The proposed approach is successfully examined in a railway environment, and the on-site experimental results reveal that the adaptive approach holds better positioning performance in comparison to the methods without adaptive adjustment. Improvements of 62.4% and 14.9% in positioning accuracy are obtained in contrast to Standard Point Positioning (SPP) and Precise Point Positioning (PPP), respectively. The proposed adaptive method takes advantage of DTM information and is able to automatically adapt to complex railway environments and different GNSS techniques. View Full-Text
Keywords: adaptive filtering; extended Kalman particle filter; digital track map; train navigation application adaptive filtering; extended Kalman particle filter; digital track map; train navigation application
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Jin, C.; Cai, B.; Wang, J.; Kealy, A. DTM-Aided Adaptive EPF Navigation Application in Railways. Sensors 2018, 18, 3860.

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