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Kinematic Modeling of a Track Trolley Using Extended Kalman Filter
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 Title & Authors
Kinematic Modeling of a Track Trolley Using Extended Kalman Filter
Lee, Jun S.; Choi, Il Yoon; Kim, Sun Hee; Um, Ju Hwan;
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 Abstract
Continuous as well as discrete measurement of the track geometry based on a track trolley are investigated to enhance the efficiency of the trolley and to minimize the measurement errors. A new kinematic model based on the track coordinates involving transition and circular curves is developed to improve the accuracy of the measurement; a nonlinear Extended Kalman Filter (EKF) is employed to linearize the governing equations. The proposed model is verified with the ideal track geometry in terms of both discrete and continuous measurement. Comparison with the previous models is also made to prove the applicability of the kinematic model.
 Keywords
Track geometry;Extended Kalman filter;Trolley;Kinematic modeling;
 Language
Korean
 Cited by
 References
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