Track frame approach for heading and attitude estimation in operating railways using on-board MEMS sensor and encoder

In this work, the orientation of a railway is estimated with novel methodology based on multibody system kinematics using railway-specific track frame. The proposed method improves prediction model by considering translational accelerations due to negotiation. To end, forward velocity vehicle, measured an encoder, and design geometry are used. This algorithm has been tested operational underground light-metro quite good results compared other data fusion algorithms embedded in commercial Inertial Measurements Units (IMU) that contains no information about real application whatsoever.