Heading Angle Estimation based on Sensor Fusion for Train Localization

초록

Accurate and reliable heading angle data are essential for train localization. However, the heading angle obtained by Global Navigation Satellite System (GNSS) position information is sometimes misleading or erroneous. In order to resolve this issue, this paper presents the sensor fusion technique using GNSS receiver and gyro measurements. Experimental results demonstrate the validity and accuracy of the proposed algorithm.