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Train navigator with integral constrained GPS solution and track database compensation

  • US 7,610,152 B2
  • Filed: 05/03/2006
  • Issued: 10/27/2009
  • Est. Priority Date: 05/04/2005
  • Status: Active Grant
First Claim
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1. A method for navigation in a system including railway track having a plurality of track irregularity classes with a quantitative value associated with each class and a railway vehicle for movement along the railway track having a navigation system for determining railway vehicle position along the railway track, the navigation system including a database having at least a geometric track model contained therein, the navigation system also including inertial components for measuring heading and variations thereof and acceleration and variations thereof and a satellite responsive GPS for providing geopositional data, comprising the steps of:

  • establishing an a-priori stochastic model of actual navigation errors and an a-priori stochastic model of a measurement aiding process;

    effecting a Kalman type filtering of error variables to create estimated track database errors constrained by the track irregularity class; and

    implementing substantially real-time feedback of estimated track database errors for correcting the geometric track model contained in the database for subsequent use for navigation upon the railway track.

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