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Abstract

A method of determining a position of a train (localization) includes initializing a train position with no a priori position information (e.g., at power up), i.e., cold localization, and determining a train position within a known coarse region, i.e., warm localization. On-board sensors are used to detect landmark objects in a localization region of the guideway, based on distinct features of the landmark objects. Detectors detect object features and the object features are fused. Landmark objects are tracked over time in a unified local reference frame such that a sliding window of landmark objects is maintained as a local map. Object features of landmark objects in the local map are compared to a reference map in order to uniquely identify a corresponding constellation of landmark objects in the reference map.

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