Rail Vehicle Localization Exploiting Rail Track Georeferenced Coordinates
A novel dead reckoning algorithm conceived for localization of small inspection rail vehicles in Global Navigation Satellite System (GNSS) denied environments is presented. This work focus on simplifying the rail vehicle localization task, taking into account restrictions on movement imposed by the...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Universidade do Porto
2015-12-01
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| Series: | U.Porto Journal of Engineering |
| Subjects: | |
| Online Access: | https://journalengineering.fe.up.pt/article/view/38 |
| _version_ | 1818032816811671552 |
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| author | António João Ferreira José Miguel Almeida Eduardo Silva |
| author_facet | António João Ferreira José Miguel Almeida Eduardo Silva |
| author_sort | António João Ferreira |
| collection | DOAJ |
| description | A novel dead reckoning algorithm conceived for localization of small inspection rail vehicles in Global Navigation Satellite System (GNSS) denied environments is presented. This work focus on simplifying the rail vehicle localization task, taking into account restrictions on movement imposed by the railroad tracks. Considering that dead reckoning techniques accumulate errors over time, leading to increasing global uncertainty, a method was designed to correct the estimates and also smooth trajectory errors backwards in time, through visualization of global landmarks. Results show the effectiveness of this approach in reducing long-term position errors. The current document reports real railroad experiments, featuring a specially designed non-motorized mobile modeling vehicle. |
| first_indexed | 2024-12-10T06:13:23Z |
| format | Article |
| id | doaj.art-4436af3caa3a4e9f889cabe52ff13e3d |
| institution | Directory Open Access Journal |
| issn | 2183-6493 |
| language | English |
| last_indexed | 2024-12-10T06:13:23Z |
| publishDate | 2015-12-01 |
| publisher | Universidade do Porto |
| record_format | Article |
| series | U.Porto Journal of Engineering |
| spelling | doaj.art-4436af3caa3a4e9f889cabe52ff13e3d2022-12-22T01:59:30ZengUniversidade do PortoU.Porto Journal of Engineering2183-64932015-12-011211210.24840/2183-6493_001.002_000138Rail Vehicle Localization Exploiting Rail Track Georeferenced CoordinatesAntónio João Ferreira0José Miguel Almeida1Eduardo SilvaINESC TEC; ISEPINESC TEC; ISEPA novel dead reckoning algorithm conceived for localization of small inspection rail vehicles in Global Navigation Satellite System (GNSS) denied environments is presented. This work focus on simplifying the rail vehicle localization task, taking into account restrictions on movement imposed by the railroad tracks. Considering that dead reckoning techniques accumulate errors over time, leading to increasing global uncertainty, a method was designed to correct the estimates and also smooth trajectory errors backwards in time, through visualization of global landmarks. Results show the effectiveness of this approach in reducing long-term position errors. The current document reports real railroad experiments, featuring a specially designed non-motorized mobile modeling vehicle.https://journalengineering.fe.up.pt/article/view/38RoboticsData ProcessingRailway Track |
| spellingShingle | António João Ferreira José Miguel Almeida Eduardo Silva Rail Vehicle Localization Exploiting Rail Track Georeferenced Coordinates U.Porto Journal of Engineering Robotics Data Processing Railway Track |
| title | Rail Vehicle Localization Exploiting Rail Track Georeferenced Coordinates |
| title_full | Rail Vehicle Localization Exploiting Rail Track Georeferenced Coordinates |
| title_fullStr | Rail Vehicle Localization Exploiting Rail Track Georeferenced Coordinates |
| title_full_unstemmed | Rail Vehicle Localization Exploiting Rail Track Georeferenced Coordinates |
| title_short | Rail Vehicle Localization Exploiting Rail Track Georeferenced Coordinates |
| title_sort | rail vehicle localization exploiting rail track georeferenced coordinates |
| topic | Robotics Data Processing Railway Track |
| url | https://journalengineering.fe.up.pt/article/view/38 |
| work_keys_str_mv | AT antoniojoaoferreira railvehiclelocalizationexploitingrailtrackgeoreferencedcoordinates AT josemiguelalmeida railvehiclelocalizationexploitingrailtrackgeoreferencedcoordinates AT eduardosilva railvehiclelocalizationexploitingrailtrackgeoreferencedcoordinates |