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