{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T04:51:44Z","timestamp":1774932704721,"version":"3.50.1"},"reference-count":28,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2024,8,28]],"date-time":"2024-08-28T00:00:00Z","timestamp":1724803200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Lanzhou Science and Technology Bureau Talent Project","award":["2023-QN-11"],"award-info":[{"award-number":["2023-QN-11"]}]},{"name":"Lanzhou Science and Technology Bureau Talent Project","award":["N2023G064"],"award-info":[{"award-number":["N2023G064"]}]},{"name":"Lanzhou Science and Technology Bureau Talent Project","award":["2023CYZC-32"],"award-info":[{"award-number":["2023CYZC-32"]}]},{"name":"Lanzhou Science and Technology Bureau Talent Project","award":["22YF7GA140"],"award-info":[{"award-number":["22YF7GA140"]}]},{"name":"China Railway Corporation Science and Technology Plan Project","award":["2023-QN-11"],"award-info":[{"award-number":["2023-QN-11"]}]},{"name":"China Railway Corporation Science and Technology Plan Project","award":["N2023G064"],"award-info":[{"award-number":["N2023G064"]}]},{"name":"China Railway Corporation Science and Technology Plan Project","award":["2023CYZC-32"],"award-info":[{"award-number":["2023CYZC-32"]}]},{"name":"China Railway Corporation Science and Technology Plan Project","award":["22YF7GA140"],"award-info":[{"award-number":["22YF7GA140"]}]},{"name":"Gansu Provincial Department of Education Industry Support Project","award":["2023-QN-11"],"award-info":[{"award-number":["2023-QN-11"]}]},{"name":"Gansu Provincial Department of Education Industry Support Project","award":["N2023G064"],"award-info":[{"award-number":["N2023G064"]}]},{"name":"Gansu Provincial Department of Education Industry Support Project","award":["2023CYZC-32"],"award-info":[{"award-number":["2023CYZC-32"]}]},{"name":"Gansu Provincial Department of Education Industry Support Project","award":["22YF7GA140"],"award-info":[{"award-number":["22YF7GA140"]}]},{"name":"the Key research and development Program Project","award":["2023-QN-11"],"award-info":[{"award-number":["2023-QN-11"]}]},{"name":"the Key research and development Program Project","award":["N2023G064"],"award-info":[{"award-number":["N2023G064"]}]},{"name":"the Key research and development Program Project","award":["2023CYZC-32"],"award-info":[{"award-number":["2023CYZC-32"]}]},{"name":"the Key research and development Program Project","award":["22YF7GA140"],"award-info":[{"award-number":["22YF7GA140"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>China\u2019s rail transit system is developing rapidly, but achieving seamless high-precision localization of trains throughout the entire route in closed environments such as tunnels and culverts still faces significant challenges. Traditional localization technologies cannot meet current demands, and the present paper proposes an autonomous localization method for trains based on pulse observation in a tunnel environment. First, the Letts criterion is used to eliminate abnormal gyro data, the CEEMDAN method is employed for signal decomposition, and the decomposed signals are classified using the continuous mean square error and norm method. Noise reduction is performed using forward linear filtering and dynamic threshold filtering, respectively, maximizing the retention of its effective signal components. A SINS\/OD integrated localization model is established, and an observation equation is constructed based on velocity matching, resulting in an 18-dimensional complex state space model. Finally, the EM algorithm is used to address Non-Line-Of-Sight and multipath effect errors. The optimized model is then applied in the Kalman filter to better adapt to the system\u2019s observation conditions. By dynamically adjusting the noise covariance, the localization system can continue to maintain continuous high-precision position information output in a tunnel environment.<\/jats:p>","DOI":"10.3390\/s24175556","type":"journal-article","created":{"date-parts":[[2024,8,28]],"date-time":"2024-08-28T03:57:06Z","timestamp":1724817426000},"page":"5556","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Research on an Autonomous Localization Method for Trains Based on Pulse Observation in a Tunnel Environment"],"prefix":"10.3390","volume":"24","author":[{"given":"Jianqiang","family":"Shi","sequence":"first","affiliation":[{"name":"School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youpeng","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guangwu","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yongbo","family":"Si","sequence":"additional","affiliation":[{"name":"School of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,8,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"10772","DOI":"10.1109\/TVT.2020.3010979","article-title":"An orientation navigation approach based on INS and odometer integration for underground unmanned excavating machine","volume":"69","author":"Han","year":"2020","journal-title":"IEEE. 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