Onboard Train Localization Assisted by Surrounding Structure Identification Using One-Dimensional LiDAR Sensor

Train localization is a crucial technology in the railway industry, with increasing demand for cost-effective methods that eliminate reliance on ground-based equipment to reduce both costs and maintenance requirements. In this study, we propose a versatile train localization method applicable across diverse environments, including high-speed railways, conventional lines, urban settings, and rural areas. By integrating a high-speed, cost-effective one-dimensional LiDAR sensor with GNSS, MEMS IMU, and a Tachometer generator, the system can effectively recognize the surrounding environment and accurately determine the train's position. The proposed method ensures low-cost and high-accuracy train localization even in areas with dense surrounding structures or open-sky environments. Experimental results conducted on operational railway lines demonstrated a high success rate of 97 % in recognizing the surrounding environment and detecting train location using this approach. Moreover, the accuracy of train localization achieved through this method was found to be comparable to that of a loosely-coupled GNSS approach.