Authors:
Seong Yun Cho
1
;
Chang Ho Kang
2
and
Kyung Ho Shin
3
Affiliations:
1
Department of Robotics Engineering, Kyungil University, Gyeongsan and South Korea
;
2
Research Institute of Engineering and Technology, Korea University, Seoul and South Korea
;
3
Railroad Control & Communication Research Team, Korea Railroad Research Institute, Uiwang and South Korea
Keyword(s):
INS/GPS, Train Application, Kalman Filter, Observability, RMSE.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Robotics and Automation
Abstract:
This paper aims to analyse the navigation performance that can be provided by the navigation system when applying the INS/GPS integrated navigation system to the train. The performance of the Kalman filter integrating INS and GPS can be summarized by the integrity of the measurement and the observability of the filter. Assuming the integrity of the GPS information used as a measurement is always satisfied, the performance of the filter can eventually be analysed by the observability. The observability of the filter depends on the dynamic trajectory of the train. Because the train has a non-holonomic constraint and one-dimensional motion, the filter design and the performance analysis are carried out considering this. We analyse the observability of the filter through simulation and explain the limit of the filter and the flaw of the observability. We also analyse the reliability of the navigation system and present additional research directions.