There is provided a computer-implemented method of determining a position of a vehicle 10 within a transport network. The method comprises obtaining track geometry data indicating track geometry of at least a part of the transport network; receiving first sensor data from an inertial measurement unit 26 mounted to the vehicle 10; executing a Bayesian estimation filter algorithm 34 to predict a position of the vehicle, wherein the Bayesian estimation filter algorithm comprises a process model, the process model comprising a strapdown inertial navigation algorithm 47, and wherein the strapdown inertial navigation algorithm 47 generates data indicative of the predicted position of the vehicle based at least upon the first sensor data and the track geometry data such that the predicted position of the vehicle lies on a track defined by the track geometry data; receiving second sensor data from a sensor 25, 27 other than an inertial measurement unit 26, wherein the sensor is mounted to the vehicle; executing the Bayesian estimation filter algorithm 34 to update the predicted position of the vehicle based at least upon the second sensor data; and generating an output indicative of a position of the vehicle within the transport network based upon at least one of the predicted position of the vehicle and the updated predicted position of the vehicle.
Method and apparatus for determining a position of a vehicle
2022-12-01
Patent
Electronic Resource
English
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