Methods and systems for decentralized rail signaling and positive train control

A train control system comprising:

• a plurality of carborne units deployed on a train operating within a rail network, the each carborne unit comprising one or more wireless radios configured for transmitting and/or receiving wireless signals;
• and
• a plurality of wayside units deployed on or near one or more tracks traversable by the train;
• wherein each wayside unit is equipped with a wireless radio,
• wherein each wayside unit is configured to wirelessly communicate with any carborne unit, when within range of the wayside unit, via wireless communication signals,
• wherein at least one carborne unit carborne unit is configured to determine a distance to at least one wayside unit based on communication with the at least one wayside unit, and
• wherein at least two carborne units of the plurality of carborne units are arranged to communicate with different wayside units, and to determine, based on the communication with different wayside units, different ranging information corresponding to at least two different directions relative to a movement of the train.