Abstract
To solve the high costs of the existing transponder/odometer-based wayside subway train localization method and the discontinuity of the GNSS-based subway train localization method in blocked GNSS environments, an advanced and alternative subway train localization system using the INS/Vision/ODO/MM fusion method is first proposed in this research. To evaluate the performance of the proposed INS/Vision/ODO/MM fusion method, a railway test was conducted on the Beijing Changping Line. The results show the proposed localization method can provide available and continuous 1-D positioning results with an accuracy of 10.82 m, which is a 52.71% improvement compared with the existing ATO. It also shows that the proposed vision-aided multi-sensor fusion method can be used as an alternative to the existing wayside-transponder-based localization system to provide navigation solutions for train safe operation without relying on wayside equipment and with low cost and easy maintenance.
Disclosure statement
No potential conflict of interest was reported by the author(s).
Data availability statement
Data will be made available on request.