Research on deeply integrated GPS/INS for autonomous train positioning

With the speed-up of trains, the train´s positioning environment becomes increasingly complex which requires the train´s positioning system have enough anti-interference capability to ensure the precision and reliability of train´s positioning. GNSS/INS deeply integrated positioning system could improve the anti-interference ability of the positioning system, achieving real-time positioning with much higher precision and reliability. In this paper, a deeply integrated GNSS/INS strategy for train locating based on vector tracking loop was proposed, and the mathematical model for GNSS/INS integrated system was established.