Abstract
This paper deals with a fault tolerant architecture of Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) based train position locator (TPL) intended for railway signalling and train control. Sensor and process fault detectability is outlined within the proposed architecture. Main attention is paid to sensor data validation by means of the Probability Data Association Filtering (PDAF) approach. Further, train routing detection on a switch using gyro-odometry and Bayes' theorem is proposed. The experimental verification of the presented procedures has been performed by means of 3kV DC electric locomotive on the experimental track.
