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The Journal of The Korea Institute of Intelligent Transport Systems Vol.24 No.6 pp.94-101
터널 내에서 UWB-IMU 센서융합 기반 열차 정밀 측위
UWB+IMU Sensor Fusion Based Precise Train Localization in Tunnels
Abstract
This paper proposes and experimentally validates a single-anchor train localization method that fuses ultra-wideband (UWB) and inertial measurement unit (IMU) data using an extended Kalman filter (EKF) for underground urban railways where GNSS is impractical. The system adopts single-anchor ranging to reduce infrastructure dependency and leverages IMU accelerometer information to enhance robustness without adding infrastructure and mitigate the degradation in shadowed areas. The experiments conducted in the test environment of the Korea Railroad Research Institute showed that, the proposed method increased the effective update rate and reduced the error compared to UWB-only localization, enhancing the continuity and accuracy in low-infrastructure settings.
