A5071829648- Indoor and Outdoor Localization Technologies
- Railway Engineering and Dynamics
- Railway Systems and Energy Efficiency
- Target Tracking and Data Fusion in Sensor Networks
- Power Line Communications and Noise
- GNSS positioning and interference
- Millimeter-Wave Propagation and Modeling
- Robotics and Sensor-Based Localization
- Inertial Sensor and Navigation
- Remote Sensing and LiDAR Applications
- Transportation Systems and Safety
- Vehicular Ad Hoc Networks (VANETs)
- Gait Recognition and Analysis
- Air Traffic Management and Optimization
- Context-Aware Activity Recognition Systems
- Structural Health Monitoring Techniques
- Magnetic Field Sensors Techniques
- Advanced MIMO Systems Optimization
- Vehicle License Plate Recognition
- Leaf Properties and Growth Measurement
- Robotics and Automated Systems
- Radio Wave Propagation Studies
- Geophysics and Sensor Technology
- Service-Oriented Architecture and Web Services
- Speech and Audio Processing
Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
2014-2024
Nuremberg Hospital
2022
Institut für Urheber- und Medienrecht
2022
This paper presents measurements of train motion with a low-cost inertial measurement unit (IMU) based on micro electro mechanical systems (MEMS). The were recorded on-board during normal passenger transport service network dense urban railway environment as well rural, regional environment. Sensor from several runs therefore analyzed and the data is presented discussion typical characteristics, noise dynamics. As dependent track, local track characteristics are inferred measurements....
The L-band digital aeronautical communications system (LDACS) is a key enabler of the new air traffic services and operational concepts necessary for modernization management (ATM). After its initial design, compatibility tests with legacy systems, functional demonstrations in laboratory, currently undergoing standardization process International Civil Aviation Organization (ICAO). However, LDACS has not been demonstrated flight yet. In this article, we present first in-flight demonstration...
The avoidance of train collisions is vital for human safety in railway transportation. Technical approaches are general control or collision systems as well semi-automated fully autonomous trains. These rely on robust and exact localization an accurate map the track network.We present Simultaneous Localization Mapping relying exclusively train-side sensors. RailSLAM, implemented a probabilistic filter, uses measurements from multiple sensors computes map. We heavily that not affected by...
Train localization is safety-critical and therefore the approach requires a continuous availability track-selective accuracy. A probabilistic followed up in order to cope with multiple sensors, measurement errors, imprecise information, hidden variables as topological position within track network. The nonlinear estimation of train posterior addressed novel Rao-Blackwellized particle filter (RBPF) approach. There, embedded Kalman filters estimate certain linear state while distribution can...
The use of foot-mounted inertial measurement units (IMUs) has shown promising results in providing accurate human odometry as a component indoor pedestrian navigation. specifications these sensors, such the sampling frequency have to meet requirements related motion.
The ground-based augmentation system (GBAS) is the cornerstone for enabling automated landings without instrument landing (ILS). Currently, GBAS evolving to approach service type-D (GAST-D) category III landings. This development toward GAST-D extends via use of multiple frequencies (L1/L2 and L5) global navigation satellite constellations. requires correction data be broadcast aircraft, which currently handled VHF (VDB) datalink. However, VDB has several known shortcomings: 1) low...
Abstract This paper presents a robust train localisation system by fusing Global Navigation Satellite System (GNSS) with an Inertial (INS) in tightly-coupled (TC) strategy. To improve navigation performance GNSS partly blocked areas, advanced map-matching (MM) measurement-augmented TC GNSS/INS method is proposed via error-state unscented Kalman filter (UKF). The MM generates matched position using one-step predicted from UKF time update step binary search algorithm and point–line projection...
The localization of trains in a railway network is necessary for train control or applications such as autonomous driving collision avoidance systems. Train safety critical and therefore the approach requires robust, precise track selective localization. Satellite navigation systems (GNSS) might be candidate this task, but measurement errors lack availability parts environment do not fulfill demands system. Therefore, additional onboard sensors, an inertial unit (IMU), odometer feature...
The localization of a train on railway network with onboard sensors has been usually tackled by matching an estimated position fix track map. In this paper, we face the navigation problem directly in topological domain map without computing initial global position. We develop tightly coupled scheme to fuse raw measurement Global Navigation Satellite System (GNSS), Inertial Measurement Unit (IMU) and information digital model using Dynamic Bayesian Network (DBN) derive particle filter handle...
Passive magnetic sensors measure the field density in three axes and are often integrated on a single chip. These low-cost widely used car navigation as well battery powered equipment such smartphones part of an electronic compass. We focus train localization application with multiple, exclusively onboard track map. This approach is considered base technology for future railway applications collision avoidance systems or autonomous driving. In this paper, we address following question: how...
In this paper a train localization method is proposed that uses local variations of the earth magnetic field to determine topological position in track network. The approach requires magnetometer triad, an accelerometer, and map along railway tracks. estimated comprises along-track defines within certain ID specifies driving on. by recursive Bayesian filter found from hypothesis test. particular use multiple particle filter, each estimating on different hypothesis, proposed. Whenever crosses...
Future railway applications, such as train-side collision avoidance, virtual coupling or autonomous train driving demand reliable and accurate localization. We focus on exclusive onboard localization without additional way-side infrastructure. Common approaches for are based measurements of a global satellite navigation system (GNSS). Well-known methods improved reliability accuracy the combination with inertial systems (INS) dead reckoning. However, these show an unbounded growth error...
FootSLAM or simultaneous localization and mapping (SLAM) for pedestrians is a technique that addresses the indoor positioning problem based on human odometry (aka pedestrian dead reckoning), e.g. with foot-mounted inertial sensor. follows FastSLAM factorization, using Rao-Blackwellized particle filter to simultaneously estimate building layout pedestrian's pose - his position orientation. To end, divides 2D space into grid of uniform adjacent hexagons counts number times each crosses edges...
In this paper we propose a new train localization method that is based solely on an inertial measurement unit (IMU) and magnetometers. The positioning error of the navigation system (INS) bounded with magnetic field signatures. To achieve this, measurements magnetometer are matched to map field. When match found, position matching signature obtained from map. proposed independent global satellite (GNSS) therefore available also in tunnels other environments severe GNSS blockage. combination...
In this paper a particle filter for absolute train localization based on magnetic field measurements is proposed. The utilizes distortions of the earth introduced by ferromagnetic infrastructure components along railway track. are characteristic certain part track network and therefore source position information. in incorporates prior created map these to estimate position. This only requires low-cost passive magnetometers simple movement model that accounts limited dynamics train....
FootSLAM or simultaneous localisation and mapping (SLAM) for pedestrians is a technique that addresses the indoor positioning problem based on human odometry (aka pedestrian dead reckoning), example with foot-mounted inertial sensor. follows FastSLAM factorisation, using Rao-Blackwellised particle filter to simultaneously estimate building layout pedestrian's pose – his position orientation. To end, divides 2D space into grid of uniform adjacent hexagons counts number times each crosses...
Passive magnetic sensors can measure the field density in three orthogonal axes and are often integrated on a single chip. These low-cost widely used car navigation as well battery powered equipment such smartphones. There, its general purpose is measurement of heading angle by an electronically gimbaled compass technique. We interested train localization with multiple, exclusively onboard track map. This approach considered base technology for future railway applications train-centric...
The applications of activity recognition have increased in the last years. Among its uses are promoting healthy life styles or monitoring professional users (like first responders) during life-threatening operations; which caused need for new research lines. However systems using common devices smart phones) equipped with necessary sensors (e.g. inertial sensors) not fully developed. Our work develops and system, a focus on users, that displaceable sensor. set is comprised most activities...
Critical railway systems, like signalling or automatic train control (ATC), are envisioned to rely on satellite-based localization. The safety aspect requires that the localization system does not only provide accurate information but also proper error uncertainty estimation and integrity quantification. This is challenging be achieved for applications, since environment very complex GNSS typically affected by multiple local threats. In particular, multipath must carefully modelled. this...
The trend towards urbanization increases the need for highly available public transportation. Nevertheless, majority of society demands individual transport too. To address these in urban areas, intelligent transportation systems (ITS) aim at increasing capacity and safety while reducing costs, accidents, environmental impact. that end, both railway industry automotive focus on automation, digitization, wireless communications to cope with numbers vehicles passengers. These two industries...