A Research on a Integrated GNSS/INS/ODO Train-Based Positioning Technology

In view of the complex and changing railroad operating environment, the GNSS/INS combined train positioning system is susceptible to rapid degradation of positioning accuracy when the GNSS signal is severely disturbed or lost, and an ODO auxiliary positioning GNSS/INS integrated train positioning method proposed. Combining with the actual train operation and considering the influence of IMU installation angle error on DR projection, a Kalman filter model applicable to the railroad environment derived, and the mathematical model of GNSS/INS loose combination positioning assisted by ODO given. Vehicular experiments show that the method can effectively suppress the dispersion of velocity and position errors of the integrated navigation and positioning system compared with the conventional DR algorithm with GNSS signal interruption.