Train positioning based on strap-down inertial system

The positioning method based on beacon combination with speed sensor in vehicle is widely adopted in train operation. In this method, however, there is large erro due to the interval of two adjacent beacons and slip/slide of speed sensor. A train positioning method based on SINS technology used to calculate the running trajectory of train is present in this paper. In order to work out the trajectory in real-time, the average filter was utilized to remove the DC component of acceleration signals in SINS and the double integral filter based Simpson´s rule was applied to transform the acceleration signals to displacement signals. Experiment shows that this method is capable of getting the trajectory of a running train with high precision and good repeatability.