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)