公开(公告)号：US20210171078A1

公开(公告)日：2021-06-10

申请号：US17117751

申请日：2020-12-10

Applicant: THALES CANADA INC.

Inventor： Alon GREEN ,  James Kevin TOBIN ,  Andrew BATCHELOR

IPC: B61L25/02 ,  G01S13/06

Abstract: A system and method of supervising vehicle positioning of a vehicle along a guideway where the vehicle comprising a supervisory controller, at least two controllers communicatively connected with the supervisory controller, an inertial measurement unit (IMU) and a speed measurement sensor includes receiving, by the controllers, speed measurements from the speed measurement sensor and motion measurements from the inertial measurement unit. The two controllers each estimate the along-track position of the vehicle using a track constrained UKF function based on the received speed measurements and motion measurements. The system executes protection level and protection level supervision functions on the supervisory controller to validate the along-track position estimates. The protection level supervision function uses a Stanford diagram verification technique.