Algorithms for estimating bus arrival times using GPS data

This paper presents a method to estimate bus arrival times at bus stops using GPS information, which was implemented in the SITCUO-Information System for Urban Bus Transportation, in Brasilia. The model consists of a main algorithm and two sub algorithms to determine the position and the speed of the bus en route. When using the speed information from the GPS, the arrival time at the stop point will be infinite if the vehicle is stationary. With the improved method and empirical calibration, the results from the developed model were found to be satisfactory in the implementation and experiment.