Open Access

Stefan Hensel, Tobias Strauß, Marin B. Marinov

• The precise localisation of rail vehicles is fundamental to the development and employment of more efficient train control systems in security, logistics and disposition applications. A key element of this is the exact and reliable velocity and distance estimation. The popular satellite navigation (global navigation satellite systems) and visual odometry, based on optical systems, tend to fail inThe precise localisation of rail vehicles is fundamental to the development and employment of more efficient train control systems in security, logistics and disposition applications. A key element of this is the exact and reliable velocity and distance estimation. The popular satellite navigation (global navigation satellite systems) and visual odometry, based on optical systems, tend to fail in the rough environment of rail application scenarios. This study describes an approach to making a precise distance estimate using an innovative eddy current sensor system. This is achieved through the combination of an augmented cross-correlation approach to highly accurate velocity estimation. That is subsequently employed to determine the travelled distance based on counting rail clamps in a spatial transformed space. This approach relies on recursive state estimation of the dynamic states and a statistical assessment of the counted rail clamps for the purpose of outlier rejection. The proposed methods are compared and evaluated in a quantitative way on the basis of experimental data. The results prove that the proposed approach can improve the accuracy and reliability of velocity measurement and relative position detection.…