High-precision positioning of an autonomous locomotive in conditions of unstable satellite measurements

Abstract

The problem that arises when positioning autonomous transport objects when traveling in urban conditions and increased interference is touched upon. Such objects of railway infrastructure create an unpredictable nature of interference, which affects the sensors of an autonomous locomotive. In this case, when approaching a supporting infrastructure facility, it becomes impossible to use both satellite measurements and various sensors of the technical vision system. In this regard, the article proposes to use autonomous meters of linear motion parameters of a locomotive as navigation sensors, and to process noisy measurements - a Kalman filter and a robust filtering method.