Abstract: A positioning and odometry system includes two or more vehicle beacons installed on an end of a vehicle and configured to communicate with one or more guideway beacons installed along a guideway. Processing circuitry is configured to communicate with the one or more vehicle beacons and perform at least one of: determine, before the processing circuitry enters a sleep state, a first vehicle position on the guideway; determine, after the processing circuitry wakes from the sleep state, a second vehicle position on the guideway; determine, after the processing circuitry wakes from the sleep state, any difference between the first vehicle position on the guideway and the second vehicle position on the guideway; determine a third vehicle position on the guideway using range measurements taken at configurable time intervals; and determine a vehicle speed where speed is measured as a change in the third vehicle position over time.

Abstract: A system for controlling a vehicle includes at least one vehicle network on board the vehicle, first and second controllers coupled to the at least one vehicle network and configured to communicate with each other via the at least one vehicle network, and first and second sensor sets coupled to the at least one vehicle network, and configured to communicate with any of the first and second controllers via the at least one vehicle network. Each of the first and second controllers is configured to, based on data output from any of the first and second sensor sets, control a movement of the vehicle independently of the other of the first and second controllers. The first sensor set is located at a first location on the vehicle, the second sensor set is located at a second location on the vehicle, and the second location is different from the first location.

Abstract: A positioning and odometry system includes two or more vehicle beacons installed on an end of a vehicle and configured to communicate with one or more guideway beacons installed along a guideway. Processing circuitry is configured to communicate with the one or more vehicle beacons and perform at least one of: determine, before the processing circuitry enters a sleep state, a first vehicle position on the guideway; determine, after the processing circuitry wakes from the sleep state, a second vehicle position on the guideway; determine, after the processing circuitry wakes from the sleep state, any difference between the first vehicle position on the guideway and the second vehicle position on the guideway; determine a third vehicle position on the guideway using range measurements taken at configurable time intervals; and determine a vehicle speed where speed is measured as a change in the third vehicle position over time.

Abstract: A system and method of supervising vehicle positioning of a vehicle along a guideway where the vehicle comprising a supervisory controller, at least two controllers communicatively connected with the supervisory controller, an inertial measurement unit (IMU) and a speed measurement sensor includes receiving, by the controllers, speed measurements from the speed measurement sensor and motion measurements from the inertial measurement unit. The two controllers each estimate the along-track position of the vehicle using a track constrained UKF function based on the received speed measurements and motion measurements. The system executes protection level and protection level supervision functions on the supervisory controller to validate the along-track position estimates. The protection level supervision function uses a Stanford diagram verification technique.

Abstract: A system for controlling a vehicle includes at least one vehicle network on board the vehicle, first and second controllers coupled to the at least one vehicle network and configured to communicate with each other via the at least one vehicle network, and first and second sensor sets coupled to the at least one vehicle network, and configured to communicate with any of the first and second controllers via the at least one vehicle network. Each of the first and second controllers is configured to, based on data output from any of the first and second sensor sets, control a movement of the vehicle independently of the other of the first and second controllers. The first sensor set is located at a first location on the vehicle, the second sensor set is located at a second location on the vehicle, and the second location is different from the first location.