Absolute Train Localization Based on the Identification of Surrounding Structures Using 1D LiDAR Sensor

Train localization is an essential technology for effective train control. Currently, train localization primarily relies on using track circuits and balises, which are placed along the track to provide precise location information. However, balises have to be placed at intervals of a few kilometers. This increases maintenance costs and makes them vulnerable to being damaged by ice blocks falling from moving trains. Therefore, in this study, we propose a method for absolute train localization based on structure detection and identification using a 1D light detection and ranging (LiDAR) sensor to reduce the number of balises. Structure identification is achieved using scan matching. In the experiments using a car, the proposed method achieved an identification success rate of over 90%. We also considered the effect of raindrops by filtering the measurement data. By testing and analyzing the identification results, we successfully reduced all cases of misidentification.