An Application of IMM Based Sensor Fusion Algorithm in Train Positioning System

Abstract

With their serious impact on the safe and economic operation of railway domains, train positioning systems play a crucial part in railway signalling. In this paper, we present a solution for such a train positioning system by making use of a tachometer, a Doppler radar and a magnetic positioning sensor (a.k.a tag). An IMM (Interacting Multiple Model) filter based sensor fusion algorithm has been used to calculate the velocity and position of the train using the above sensors. The algorithm has been developed with SCADE (Safety Critical Application Development Environment) which is a tool frequently used for development in safety-critical systems because it drastically simplifies and accelerates the certification process required of EN 50128.