Research Article
Bayesian Train Localization with Particle Filter, Loosely Coupled GNSS, IMU, and a Track Map
Table 3
Detailed cumulative results.
| Localization | OK | Switch | Error | Error events, switch way resolutions | % total distance: | (% parallel tracks: ) |
| () Map match GNSS position | 93.7 (75.2) | 0.73 (2.86) | 5.57 (21.9) | 108 errors | () RBPF, GNSS position | 94.9 (79.8) | 1.06 (4.19) | 4.06 (16.0) | 33 errors | () Method 2 and GNSS heading | 97.3 (89.1) | 0.26 (1.03) | 2.49 (9.84) | 4 switches (1 late, 3 fail) | () Method 2 and IMU yaw rate | 99.7 (98.9) | 0.10 (0.41) | 0.17 (0.67) | 3 switches (2 late, 1 fail) | () Method 2 and heading, yaw rate | 99.7 (98.8) | 0.09 (0.36) | 0.21 (0.84) | 4 switches (3 late, 1 fail) |
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