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)
() 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%