Map-Aided Train Navigation with IMU Measurements
Marc-Antoine Lavoie,James Richard Forbes,Marc-Antoine Lavoie,James Richard Forbes
Autonomous train navigation using only a low-cost MEMS IMU and a track map is considered in this paper. The approach is designed for urban rail or subway environments where GNSS measurements are unreliable or unavailable, and is intended as a baseline against which more complex sensor fusion approaches can be compared to ensure the consistency of the estimates. The estimator exploits the track mot...
