Real-time train motion parameter estimation using an Unscented Kalman Filter

Alex Cunillera*, Nikola Bešinović, Niels van Oort, Rob M.P. Goverde

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

1 Citation (Scopus)
39 Downloads (Pure)

Abstract

Train movement dynamics are usually modelled by means of Newton's second law. The resulting dynamic equation can be very precise if the parameters that it depends on are determined accurately. However, these parameters may vary in time and show wide variations, making the calibration task nontrivial and jeopardizing the performance of a broad variety of applications in the railway industry: from timetable planning and railway traffic simulation to Driver Advisory Systems and Automatic Train Operation. In this article, the online train motion model calibration problem is addressed with a special focus on energy-efficient on-board applications. To this end, location and speed measurements are assumed to be available for a train running under normal operation conditions. A well-known real-time parameter estimation algorithm, the Unscented Kalman Filter, is combined with a driving regime calculator and a post-processing module in order to obtain bounds and statistics of parameters such as the maximum applied tractive effort and power, the applied brake rates, the cruise speed and the length of the final coasting and braking. The proposed framework is tested in a case study with real data from trains operating on the Eindhoven-’s-Hertogenbosch corridor in the Netherlands. Results obtained show that UKF is able to track the speed and location measurements and to estimate the parameters that model the running resistance in the dynamic equation. The proposed driving regime and the post-processing modules can determine the current regime accurately and give a deeper insight into the variations of the driving style, respectively.

Original languageEnglish
Article number103794
Number of pages15
JournalTransportation Research Part C: Emerging Technologies
Volume143
DOIs
Publication statusPublished - 2022

Keywords

  • Parameter estimation
  • Railways
  • Train motion model calibration
  • Unscented Kalman Filter

Fingerprint

Dive into the research topics of 'Real-time train motion parameter estimation using an Unscented Kalman Filter'. Together they form a unique fingerprint.

Cite this