Bayesian Train Localization with Particle Filter, Loosely Coupled GNSS, IMU, and a Track Map

Table 2

Train routes.

Run	From station	To station	Forward, backward	Split switches	Time	km
1	ABG	FDB	B	8	10 min	8
2	FDB	ABG	F	7	10 min	8
3	ABG	ING	B	22	1 h	66
4	ING	ABG	F	20	1 h	66
5	ABG	FDB	B	8	10 min	8
6	FDB	ABG	F	7	10 min	8
7	ABG	AIC	B	11	30 min	25
8	AIC	ABG	F	9	30 min	25
9	ABG	FDB	B	8	10 min	8
10	FDB	ABG	F	7	10 min	8
			5 × F, 5 × B	107	4 h	230