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Title: A method for the positioning and orientation of rail-bound vehicles in GNSS-free environments
Authors: Hung, R 
King, B 
Chen, W 
Keywords: Rail-bound navigation
Position and orientation system
Track alignment positioning
Issue Date: 2016
Publisher: Copernicus Publications
Source: ISPRS annals of the photogrammetry, remote sensing and spatial information sciences, 2016, v. III-1, p. 135-142 How to cite?
Journal: ISPRS annals of the photogrammetry, remote sensing and spatial information sciences 
Abstract: Mobile Mapping System (MMS) are increasingly applied for spatial data collection to support different fields because of their efficiencies and the levels of detail they can provide. The Position and Orientation System (POS), which is conventionally employed for locating and orienting MMS, allows direct georeferencing of spatial data in real-time. Since the performance of a POS depends on both the Inertial Navigation System (INS) and the Global Navigation Satellite System (GNSS), poor GNSS conditions, such as in long tunnels and underground, introduce the necessity for post-processing. In above-ground railways, mobile mapping technology is employed with high performance sensors for finite usage, which has considerable potential for enhancing railway safety and management in real-time. In contrast, underground railways present a challenge for a conventional POS thus alternative configurations are necessary to maintain data accuracy and alleviate the need for post-processing. This paper introduces a method of rail-bound navigation to replace the role of GNSS for railway applications. The proposed method integrates INS and track alignment data for environment-independent navigation and reduces the demand of post-processing. The principle of rail-bound navigation is presented and its performance is verified by an experiment using a consumer-grade Inertial Measurement Unit (IMU) and a small-scale railway model. The method produced a substantial improvement in position and orientation for a poorly initialised system in centimetre positional accuracy. The potential improvements indicated by, and limitations of rail-bound navigation are also considered for further development in existing railway systems.
Description: XXIII ISPRS Congress, 12-19 July 2016, Prague, Czech Republic
ISSN: 2194-9042 (print)
DOI: 10.5194/isprs-annals-III-1-135-2016
Rights: © Author(s) 2016. This is an open access article distributed under the Creative Commons Attribution 3.0 License (, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
The following publication: Hung, R., King, B. A., and Chen, W.: A METHOD FOR THE POSITIONING AND ORIENTATION OF RAIL-BOUND VEHICLES IN GNSS-FREE ENVIRONMENTS, ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci., III-1, 135-142 is available at, 2016.
Appears in Collections:Conference Paper

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