Abstract: An apparatus defines a protection envelope in an aircraft, including a processor and at least one sensor, each sensor being coupled with the processor, the processor executing at least one neural network based algorithm. The at least one sensor monitors flight parameters of the aircraft thereby generating monitored flight parameters. The processor divides the performance envelope of the aircraft into predefined flight regimes, wherein for each predefined flight regime, the processor defines and stores a suitable protection envelope. The processor determines an estimated flight regime of the aircraft using the neural network based algorithm based on the monitored flight parameters. The processor selects a respective suitable protection envelope for the aircraft based on the estimated flight regime.

Abstract: Systems, apparatus and methods to supplement, combine, replace, verify and calibrate in-vehicle and in-device sensors and GNSS systems are presented. A mobile device and a vehicle navigation system share sensor and GNSS information to arrive at an improved navigation solution. For example, a navigation solution computed by a vehicle may rely on a sensor signal from a mobile device. Similarly, a navigation solution computed by a mobile device may use a sensor signal or a GNSS signal from a vehicle.

Abstract: The subject matter disclosed herein relates to systems, methods, apparatuses, articles, and means for determining at least one navigational coordinate system to be utilized in conjunction with transports and/or mobile devices. For certain example implementations, a method by a mobile device that is at least proximate to a transport may comprise identifying a first navigational coordinate system, with the first navigational coordinate system being associated with the transport and enabling navigation within at least one navigable area of the transport. A second navigational coordinate system may also be identified. The mobile device may determine to utilize at least one of the first navigational coordinate system or the second navigational coordinate system based, at least in part, on one or more predetermined conditions. Other example implementations are described herein.

Abstract: A vehicle tracking system includes a wheel unit containing RF communication circuitry. The wheel units communicate with fixed nodes of a monitoring system. In some embodiments, the wheel units are placed on shopping carts and are used to track the shopping carts in a vicinity of a store. The system may implement a variety of tracking-relating features, including detecting unauthorized store exit events, estimating the number of shopping carts that are clustered together, and inhibiting shopping cart theft.

Abstract: Techniques are provided, which may be implemented in various methods, apparatuses, and/or articles of manufacture, to obtain an encoded routability graph representative of feasible paths in an indoor environment represented by an encoded map, and assign likelihoods of transition from an ingress edge in the encoded routability graph to individual egress edges through a junction connecting the ingress edge to a plurality of egress edges based, at least in part, on one or more features of the encoded map.

Abstract: A method and a system for dispatching vehicle are provided. The method for dispatching vehicle includes the following steps: A. obtaining the vehicle information, which includes vehicle numbers, vehicle states and relative positions; B. placing the vehicle icons corresponding to the vehicle numbers in the corresponding positions on the virtual line schedule map according to the vehicle states and the relative positions; C. displaying the virtual line schedule map refreshed via step B. The system for dispatching vehicle includes vehicle information obtaining unit, vehicle states judging and processing unit, displaying unit and dispatching unit. The system realize the visual vehicle dispatching method by utilizing the virtual line schedule map, so as to implement vehicle monitoring and dispatching.

Abstract: A system comprises an outer shell having an inner spherical cavity and an inner sphere located in the spherical cavity. The inner sphere comprises a sensor; at least one transmit antenna; and at least one transmitter coupled to the sensor and to a respective one of the at least one transmit antenna. The system also comprises a first receive antenna located in the spherical cavity; a second receive antenna located in the spherical cavity; and a receiver located outside of the outer shell. The receiver is configured to determine the signal to noise ratio of a first signal received at the first receive antenna and the signal to noise ratio of a second signal received at the second receive antenna; and to combine the first and second signals based on the respective signal to noise ratios such that interference due to multi-path signals in the spherical cavity is reduced.

Abstract: An improved approach to satellite-based navigation (e.g., GPS) is provided. In one embodiment, a method includes receiving a first set of tracking information. A nominal orbital path for the navigation satellite is determined using the first set of tracking information. Ephemeris data corresponding to the nominal orbital path is computed and uploaded to the navigation satellite. Long-term navigation information corresponding to the nominal orbital path is transmitted to a communication system for broadcast to a plurality of navigation devices. A second set of tracking information is received, an orbital path of the navigation satellite using the second set of tracking information is predicted, and a difference between the predicted orbital path and the nominal orbital path is determined. Commands configured to instruct the navigation satellite to adjust an actual orbital path of the navigation satellite to substantially conform to the nominal orbital path are uploaded to the navigation satellite.

Abstract: Systems and methods for monitoring navigation state errors are provided. In this regard, a representative system, among others, includes a receiver that is configured to receive GPS signals and calculate pseudorange (PR) residuals, the receiver including a navigation state error manager that is configured to: calculate a distance traveled by the receiver having the PR residuals, determine whether a navigation state has errors based on the calculated PR residuals and calculated distance, and responsive to determining that the navigation state has errors, send an error message indicating that the navigation state has errors.

Abstract: A GNSS integrated multi-sensor guidance system for a vehicle assembly includes a suite of sensor units, including a global navigation satellite system (GNSS) sensor unit comprising a receiver and an antenna. An inertial measurement unit (IMU) outputs vehicle dynamic information for combining with the output of the GNSS unit. A controller with a processor receives the outputs of the sensor suite and computes steering solutions, which are utilized by vehicle actuators, including an automatic steering control unit connected to the vehicle steering for guiding the vehicle. The processor is programmed to define multiple behavior-based automatons comprising self-operating entities in the guidance system, which perform respective behaviors using data output from one or more sensor units for achieving the behaviors. A GNSS integrated multi-sensor vehicle guidance method is also disclosed.

Abstract: Aspects of the disclosure relate generally to localizing mobile devices. In one example, a first location method associated with a first accuracy value may be used to estimate a location of the mobile device. A confidence circle indicative of a level of confidence in the estimation of the location is calculated. The confidence circle may be displayed on a mobile device. When other location methods become available, the size of the displayed confidence circle may be expanded based on information from an accelerometer of the client device or the accuracy of the other available location methods. This may be especially useful when the mobile device is transitioning between areas which are associated with different location methods that may be more or less accurate.

Abstract: A guiding device, includes: a first position detecting unit which detects a present position; an obtaining unit which obtains a present position detected by a second position detecting unit, from a sensor unit having the second position detecting unit which detects the present position; a detecting unit which detects a communication condition with the sensor unit; a determining unit which determines whether to preferentially use the present position detected by the first position detecting unit or the present position detected by the second position detecting unit, based on the communication condition; and a controlling unit which displays a guidance based on the present position determined by the determining unit, on a display unit. Therefore, since the present position can be calculated with accuracy, it becomes possible to appropriately perform the guide based on the present position.

Abstract: In order to provide a method for operating a navigation device, which also receives TMC data using two tuners for ascertaining an optimum travel route, using which an optimal travel route is ascertainable using the largest amount of TMC data possible, after a first search by the second tuner, the TMC data found are compared with those of the first tuner and to use the second tuner for searching for another transmitter having other TMC data. Furthermore, a navigation device of an appropriate design is provided.

Abstract: A vehicle tracking system includes a wheel containing sensor circuitry capable of sensing various types of conditions, such as wheel rotation, wheel vibration caused by skidding, and specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The sensor circuitry is coupled to an RF transceiver, which may but need not be included within the wheel. The wheel may also include a brake mechanism. In one embodiment, the wheels are placed on shopping carts and are used to collect and monitor shopping cart status and location data via a wireless network. The collected data may be used for various purposes, such as locking the wheel of an exiting cart if the customer has not paid, estimating numbers of queued carts, stopping wheel skid events that occur during mechanized cart retrieval, store planning, and providing location-based messaging to customers.

Abstract: Disclosed is a method and system to detect data transmitted by multiple transmit antennas. The method comprises selecting a starting data block that is either a random data block or an output data block from known detectors. Also, the method comprises changing each symbol of the starting data block one symbol at a time to identify a data block which has minimum euclidean distance from the starting data block as detected data block. Next, changing two symbols of the detected data block at a time to identify a data block which has minimum euclidean distance from the starting data block as second data block and assigning the second data block as the starting data block. Repeating the above steps, if the minimum euclidean distance of second data block is better than that of the detected data block, and determining the detected data block as the data transmitted.

Abstract: A method and apparatus for generating navigation solutions. A global positioning system based navigation solution unit; an inertial navigation solution unit; a correction unit, a limiter, and an adding unit. The global positioning system based navigation solution unit is capable of generating a first navigation solution. The inertial navigation solution unit is capable of generating a second navigation solution. The correction unit is capable of generating a raw correction. The limiter is capable of selectively modifying the raw correction to fall within a selected range of corrections to form a correction. The adding unit is capable of adding the correction to the second navigation solution to form a navigation solution.

Abstract: A radio communication control device accepts a call-up from a radio communication terminal and includes a unit configured to detect the degree of jamming in a cell, a unit configured to confirm the intention of a user of a terminal concerned as to whether the call-up is continued regardless of addition of an extra to the user's telephone call charge when the call-up has been made from a radio communication terminal in the cell concerned in a specific jammed state, a unit configured to block the call-up concerned in accordance with the confirmed intention of the user of the terminal concerned and a unit configured to change charge setting so as to add an extra to the user's telephone call charge when the call-up has not been blocked in the specific jammed state.

Abstract: A navigation system determines its usage mode. In some embodiments, a method comprises determining a usage mode of a navigation system based on at least one of an acceleration indicator, a speed indicator, and a magnet sensor. The usage mode is at least one of a pedestrian mode, a vehicular mode, an aerial mode, a train mode, and a marine mode. The method further comprises configuring a navigation subsystem based on the usage mode.

Abstract: Systems and methods for guiding a vehicle and vehicle sensor bias determination methods are disclosed. A method for guiding a vehicle includes a primary antenna of a primary survey-grade GNSS-receiver and a secondary antenna of a secondary GNSS-receiver mounted to the vehicle, which are at least temporarily receiving GNSS-signals of a global positioning system. A plurality of physical sensors mounted to the vehicle generate physical data indicative of respective measured physical parameters of at least part of the vehicle. The method includes de-biasing the physical data and applying a recursive statistical estimator, such as a Kalman filter, to the de-biased physical data and an output of the primary and secondary GNSS-receivers to determine a position and velocity of the vehicle.

Abstract: Systems and methods for guiding a vehicle and vehicle sensor bias determination methods are disclosed. A method for guiding a vehicle includes a primary antenna of a primary survey-grade GNSS-receiver and a secondary antenna of a secondary GNSS-receiver mounted to the vehicle, which are at least temporarily receiving GNSS-signals of a global positioning system. A plurality of physical sensors mounted to the vehicle generate physical data indicative of respective measured physical parameters of at least part of the vehicle. The method includes de-biasing the physical data and applying a recursive statistical estimator, such as a Kalman filter, to the de-biased physical data and an output of the primary and secondary GNSS-receivers to determine a position and velocity of the vehicle.

Abstract: A steering system for a work vehicle towing a towed implement is described. A steering control unit is coupled to a location signal generation arrangement on the vehicle, a steering actuator, a memory for storing desired path data of the implement and a slope sensor for detecting a lateral inclination of the work vehicle or the implement. The steering control unit calculates a lateral offset compensation value to steer the work vehicle such that the implement is moved on the desired path and a slope offset compensation value based upon a signal from the tilt sensor to compensate for slope forces pulling the implement down a lateral slope. A steering signal is sent to the steering actuator based upon the lateral offset compensation value and the slope offset compensation value.

Abstract: Embodiments include systems and methods of navigation. In on embodiment, a plurality of position and motion states of a vehicle are estimated. The states may be estimated based on information received from a satellite receiver and an inertial measurement sensor. Estimating the states comprises performing one or more of a plurality of update steps at the rate that information is received from the satellite receiver. The states are estimated at a rate greater than the rate at which the update steps are performed. In one embodiment, the states are estimated using a stepped extended Kalman filter.

Abstract: Apparatus and methods provide a guidance kit that can be attached to a projectile, such as screwed into a fuze well of an artillery round or a mortar round. A portion of the guidance kit is configured to spin constantly during flight. In the context of an artillery round that is shot from a rifled barrel, the direction of the spin torque is counter to the direction of the spin induced by the rifled barrel. Control surfaces are present in the portion of the guidance kit that spins constantly during flight. While the portion spins, the control surfaces are actuated to steer the projectile towards an intended target via, for example, GPS.

Abstract: A locating system for a machine having a boom is disclosed. The locating system has a first GPS unit and a second GPS unit. The second GPS unit is located on the boom.

Abstract: A device and method for three-dimensional positioning are provided. The three-dimensional positioning of a common reference point is determined by fusion of supplied measurements, taking into account a lever arm compensation between the reference point, a global navigation satellite system (GNSS) receiver antenna, at least one radar antenna, and an inertial measuring unit.

Abstract: A vehicle tracking system includes a wheel containing sensor circuitry capable of sensing various types of conditions, such as wheel rotation, wheel vibration caused by skidding, and specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The sensor circuitry is coupled to an RF transceiver, which may but need not be included within the wheel. The wheel may also include a brake mechanism. In one embodiment, the wheels are placed on shopping carts and are used to collect and monitor shopping cart status and location data via a wireless network. The collected data may be used for various purposes, such as locking the wheel of an exiting cart if the customer has not paid, estimating numbers of queued carts, stopping wheel skid events that occur during mechanized cart retrieval, store planning, and providing location-based messaging to customers.

Abstract: A vehicle tracking system includes a wheel containing sensor circuitry capable of sensing various types of conditions, such as wheel rotation, wheel vibration caused by skidding, and specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The sensor circuitry is coupled to an RF transceiver, which may but need not be included within the wheel. The wheel may also include a brake mechanism. In one embodiment, the wheels are placed on shopping carts and are used to collect and monitor shopping cart status and location data via a wireless network. The collected data may be used for various purposes, such as locking the wheel of an exiting cart if the customer has not paid, estimating numbers of queued carts, stopping wheel skid events that occur during mechanized cart retrieval, store planning, and providing location-based messaging to customers.

Abstract: A vehicle tracking system includes a wheel containing sensor circuitry capable of sensing various types of conditions, such as wheel rotation, wheel vibration caused by skidding, and specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The sensor circuitry is coupled to an RF transceiver, which may but need not be included within the wheel. The wheel may also include a brake mechanism. In one embodiment, the wheels are placed on shopping carts and are used to collect and monitor shopping cart status and location data via a wireless network. The collected data may be used for various purposes, such as locking the wheel of an exiting cart if the customer has not paid, estimating numbers of queued carts, stopping wheel skid events that occur during mechanized cart retrieval, store planning, and providing location-based messaging to customers.

Abstract: Various embodiments of the present invention provide systems, methods, and computer program products for providing improved augmentation for GPS calculations. In general, various embodiments of the invention involve using a plurality of GPS devices associated with stationary objects associated with a common carrier's delivery network and the common carrier's delivery fleet to calculate error corrections and to communicate these error corrections to a number of GPS enable devices to be used by these devices to augment GPS calculations to correct errors associated with GPS signals. Further, various embodiments of the invention involve collecting GPS data for a plurality of delivery routes traveled by the common carrier's delivery fleet. In particular embodiments, this collected data may be used to provide more accurate address information for locations along these delivery routes and more accurate renderings of various landscapes along these delivery routes.

Abstract: The positions and motions of a bow and a stern of the ship are detected using redundant devices and evaluated to automatically perform difficult maneuvers in ports or to generate recommendations for controlling the ship.

Abstract: Method for received signal strength-based direction-of-arrival location estimation for wireless target in an indoor environment is disclosed. The method can use just one DOA sensor node with three antennas, configured substantially in the center of a predetermined confined indoor space. Packet signals can be transmitted by DOA sensor node to the wireless target, and vice versa, where each packet comprising of a fixed sensor node cover range. RSSI values are obtained for the respective RSSI states received from the wireless target at incident angles ? using the triangular antenna array, a 1P2T switch, and a vector signal deconstructor (VSD). A location (?, ?) of the localized object is calculated using a RSS-based DOA algorithm. A RSS to DOA localization system using the above method is also disclosed.

Abstract: A vehicle tracking system includes a wheel containing sensor circuitry capable of sensing various types of conditions, such as wheel rotation, wheel vibration caused by skidding, and specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The sensor circuitry is coupled to an RF transceiver, which may but need not be included within the wheel. The wheel may also include a brake mechanism. In one embodiment, the wheels are placed on shopping carts and are used to collect and monitor shopping cart status and location data via a wireless network. The collected data may be used for various purposes, such as locking the wheel of an exiting cart if the customer has not paid, estimating numbers of queued carts, stopping wheel skid events that occur during mechanized cart retrieval, store planning, and providing location-based messaging to customers.

Abstract: Systems and methods for guiding a vehicle and vehicle sensor bias determination methods are disclosed. A method for guiding a vehicle includes a primary antenna of a primary survey-grade GNSS-receiver and a secondary antenna of a secondary GNSS-receiver mounted to the vehicle, which are at least temporarily receiving GNSS-signals of a global positioning system. A plurality of physical sensors mounted to the vehicle generate physical data indicative of respective measured physical parameters of at least part of the vehicle. The method includes de-biasing the physical data and applying a recursive statistical estimator, such as a Kalman filter, to the de-biased physical data and an output of the primary and secondary GNSS-receivers to determine a position and velocity of the vehicle.

Abstract: Systems and methods for guiding a vehicle and vehicle sensor bias determination methods are disclosed. A method for guiding a vehicle includes a primary antenna of a primary survey-grade GNSS-receiver and a secondary antenna of a secondary GNSS-receiver mounted to the vehicle, which are at least temporarily receiving GNSS-signals of a global positioning system. A plurality of physical sensors mounted to the vehicle generate physical data indicative of respective measured physical parameters of at least part of the vehicle. The method includes de-biasing the physical data and applying a recursive statistical estimator, such as a Kalman filter, to the de-biased physical data and an output of the primary and secondary GNSS-receivers to determine a position and velocity of the vehicle.

Abstract: A vehicle tracking system includes a wheel containing sensor circuitry capable of sensing various types of conditions, such as wheel rotation, wheel vibration caused by skidding, and specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The sensor circuitry is coupled to an RF transceiver, which may but need not be included within the wheel. The wheel may also include a brake mechanism. In one embodiment, the wheels are placed on shopping carts and are used to collect and monitor shopping cart status and location data via a wireless network. The collected data may be used for various purposes, such as locking the wheel of an exiting cart if the customer has not paid, estimating numbers of queued carts, stopping wheel skid events that occur during mechanized cart retrieval, store planning, and providing location-based messaging to customers.

Abstract: A vehicle tracking system includes a wheel containing sensor circuitry capable of sensing various types of conditions, such as wheel rotation, wheel vibration caused by skidding, and specific electromagnetic and/or magnetic signals indicative of particular wheel locations. The sensor circuitry is coupled to an RF transceiver, which may but need not be included within the wheel. The wheel may also include a brake mechanism. In one embodiment, the wheels are placed on shopping carts and are used to collect and monitor shopping cart status and location data via a wireless network. The collected data may be used for various purposes, such as locking the wheel of an exiting cart if the customer has not paid, estimating numbers of queued carts, stopping wheel skid events that occur during mechanized cart retrieval, store planning, and providing location-based messaging to customers.

Abstract: A control system for a motor vehicle includes: (a) at least one driving data sensor for acquiring driving data characterizing a driving state of the motor vehicle; (b) at least one camera for capturing images of the surroundings; (c) an accident recorder that can record the images of the surroundings in a buffer; and (d) an electronic controller for controlling the driving data sensor, the camera, and the accident recorder. The electronic controller is programmed to trigger an autonomous braking action of the motor vehicle based on driving data and/or images of the surroundings.

Abstract: A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion.

Abstract: Methods and architecture systems for controlling vehicle systems are disclosed. In one embodiment, a method of remotely controlling a vehicle includes estimating a position of the vehicle. A position estimation algorithm may estimate the position of the vehicle. A position data packet received from the vehicle may be used to update the estimated position of the vehicle. A display device may display a virtual representation of the vehicle based on the updated estimated position of the vehicle. Command signals may be transmitted to the vehicle based on the displayed virtual representation of the vehicle.

Abstract: A method and apparatus for estimating a location of a device. For each of a plurality of locations of a device, a set of positional data is determined from signals received from a plurality of satellites. The positional data is filtered and compared with data from a road network database. This comparison may be a function of a distance from at least one point defined by a set of the filtered positional data to a road in the road network database and an angle between a line representing a best fit for plural points defined by corresponding plural sets of the filtered positional data to a line defined by a road in the road network database.

Abstract: The navigation system described here utilizes GPS and Galileo satellite signals combined with Inertial Navigation Systems (INS), where a Coupled Antenna (CAN) provides both GNSS and Inertial Measurement Unit (IMU) data to a Highly Integrated GNSS-Inertial (Hi-Gi) receiver. Such receiver makes use of a high fidelity relation between GNSS unprocessed Correlator Output (COUT) I and Q data and the user trajectory, and inertial sensor data, which in turn are combined within a Kalman Filter (KF). The KF determines the navigation solution that is also used to provide feedback to the receiver demodulation signal processing stage, thus eliminating the need of dedicated structures such as Delayed Locked Loops (DLL) and Phase Locked Loops (PLL), allowing a significant improvement in navigation performance.

Abstract: An auxiliary satellite positioning system is applied to a first satellite positioning apparatus. The auxiliary positioning system includes a detection module, a transmission interface and a positioning module. A second satellite positioning module having a satellite data can be detected by the detection module via a wireless transmission protocol. The satellite data can be transmitted by the transmission interface to the first satellite positioning module from the second satellite positioning module. The satellite data can be used by the positioning module to implement a satellite positioning action.

Abstract: Systems and methods for reducing the probability of a collision between a first object, whose trajectory is substantially controlled by an operator input command, and a second object.

Abstract: A method implements hybrid type simulation serving to validate an inertial unit of a moving body on board an angular movement simulator by comparing a trajectory of the moving body as calculated in a real navigation environment with at least one reference trajectory.

Abstract: Systems and methods for guiding a vehicle and vehicle sensor bias determination methods are disclosed. A method for guiding a vehicle includes a primary antenna of a primary survey-grade GNSS-receiver and a secondary antenna of a secondary GNSS-receiver mounted to the vehicle, which are at least temporarily receiving GNSS-signals of a global positioning system. A plurality of physical sensors mounted to the vehicle generate physical data indicative of respective measured physical parameters of at least part of the vehicle. The method includes de-biasing the physical data and applying a recursive statistical estimator, such as a Kalman filter, to the de-biased physical data and an output of the primary and secondary GNSS-receivers to determine a position and velocity of the vehicle.

Abstract: A method of inspecting or surveying a railroad track under load is described wherein a GPS receiver is mounted on top of the track vehicle such as a locomotive, high-rail vehicle or cargo car with data being collected at predetermined intervals to provide horizontal and vertical data for each location.

Abstract: Wireless platform attitude information such as pitch, roll and heading are disclosed. Attitude estimates can be made by using orthogonally mounted gyroscopes. Attitude estimates can be also made by determining the direction of arrival of signals and comparing the direction of arrival of the signals with the position of the transmitters and the position of the receiver. The attitude estimates can be then combined to determine “real time” attitude information.

Abstract: A locating system for a machine having a boom is disclosed. The locating system has a first GPS unit and a second GPS unit. The first GPS unit is located on the boom.

Abstract: An optical tracking vehicle control system includes a controller adapted for computing vehicle guidance signals and a guidance subsystem adapted for receiving the guidance signals from the controller and for guiding the vehicle. An optical movement sensor is mounted on the vehicle in optical contact with a travel surface being traversed by the vehicle. The optical movement sensor is connected to the controller and provides vehicle movement signals thereto for use by the controller in computing vehicle position. The optical movement sensor can be either mounted on a gimbal for movement independent of the vehicle, or, alternatively, multiple optical movement sensors can be provided for detecting yaw movements. GNSS and inertial vehicle position tracking subsystems are also provided. Still further, a method of tracking a vehicle with an optical movement sensor is provided.

Abstract: A system vitally determines a position of a train. The system includes a plurality of diverse sensors, such as tachometers and accelerometers, structured to repetitively sense at least change in position and acceleration of the train, a global positioning system sensor, which is diverse from each of the diverse sensors, structured to repetitively sense position of the train, and a track map including a plurality of track segments which may be occupied by the train. A processor cooperates with the diverse sensors, the global positioning system sensor and the track map. The processor includes a routine structured to provide measurement uncertainty for each of the diverse sensors and the global positioning system sensor. The routine cross-checks measurements for the diverse sensors, and cross-checks the global positioning system sensor against the track map. The routine provides the vitally determined position of the train and the uncertainty of the vitally determined position.