Research Article
Bayesian Train Localization with Particle Filter, Loosely Coupled GNSS, IMU, and a Track Map
Table 4
Compact track selective results.
| Localization method | Track selectivity (parallel tracks) (58.5 km) | Switch way res. (107 split switches)
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| () Map match, GNSS pos. | 78.1% | — | () RBPF, GNSS pos. | 84.0% | 69.2% | () (M. 2) + GNSS head | 90.2% | 96.3% | ( ) (M. 2) + IMU yaw rate | 99.3% | 97.2% | () (M. 2) + head + yaw rate | 99.2% | 96.3% |
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