Method and device for locating a vehicle on a road

摘要

Method for localizing a train or tram on a track has the following steps: measurement of the vehicle speed at different instants using means yielding an approximate value for the real vehicle velocity; calculation of an inertial value at different times using a single onboard inertial sensor and a geometric characteristic of the track; calculation of the abscissa of the vehicle using a convergent algorithm. The algorithm method is based on a non- linear observer based on measurements of the approximate velocity at a number of instants prior to the point at which it is hoped to localize the vehicle, on measurement of the inertial value and a database in which are stored the geometric characteristics of the track and its spatial derivatives for different curvilinear abscissas, with the database compiled from prior track measurements.