Train integrated positioning method based on GPS/INS/RFID

In order to get the train safety protection curve, a locating method is proposed based on GPS
^[1]
(global positioning system)/INS
^[2]
(inertial navigation)/RFID
^[3]
(radio frequency identification). Longitude, latitude, speed, heading is obtained by GPS and inertial navigation calculating. RFID get the stored longitude and latitude information by reading the tag number. Navigation data is obtained through GPS and INS data fusion
^[4]
realized with the kalman filter (KF) algorithm
^[5]
, then the results of navigation is confirmed after the RFID calibration. And analyzing the error of GPS, inertial navigation and RFID make the margin of positioning error within 1.5 meters. The experimental simulation results show that the precision of the proposed positioning method based on GPS/INS/RFID can reach the standard of train safety operation and the cost of train locating is reduced effectively.