Method for calculating an instantaneous velocity vector of a rail vehicle and corresponding system

Abstract

In a method for calculating, by an estimator, an instantaneous velocity vector {right arrow over (V)} of a rail vehicle, the estimator receives measurements from an inertial unit at a fixed point in the vehicle body and determines a mathematical model M of the dynamics of the vehicle moving on a track, the model being dependent on the bias of the inertial unit and installation parameters, a virtual sensor is determined based on the model M, the virtual sensor enabling calculation, from model parameters, two theoretical transverse velocities δv, and δvalong axes yand z, respectively. An iterative estimator calculates {right arrow over (V)}, and includes the virtual sensor, the estimator being configured so the two theoretical transverse velocities are zero regardless of the rail configurations, the estimator enabling correction of the biases of the inertial unit and estimate installation parameters. Auxiliary velocity or distance travelled sensors are not used to calculate {right arrow over (V)}.