# US 12,111,333 B2 · Sensor arrangement, apparatus for position determination, rail vehicle and method for position determination for a rail vehicle

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- Number: US 12,111,333 B2
- Document ID: US12111333B2
- Status: Granted
- Kind: B2
- Application number: 17/724,687
- Filed: 2022-04-20
- Published: 2022-10-20
- Granted: 2024-10-08
- Earliest claimed: 2021-04-20
- Assignees: Siemens Mobility GmbH
- Applicants: Siemens Mobility GmbH
- Inventors: Lars Johannes
- Web page: https://patentgrep.com/patent/US12111333B2

## CPC

- G01P 3/36: Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light (G01P3/68 takes precedence; gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams G01C19/64)
- B60W 40/105: Speed
- B61L 15/0063: {Multiple on-board control systems, e.g. "2 out of 3"-systems}
- B61L 15/0081: {On-board diagnosis or maintenance}
- B61L 25/021: {Measuring and recording of train speed}
- B61L 25/025: {Absolute localisation, e.g. providing geodetic coordinates}
- B61L 25/026: {Relative localisation, e.g. using odometer}
- G01S 17/58: Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S 19/215: {issues related to spoofing}
- B60Y 2400/303: Speed sensors
- B61L 2205/04: Satellite based navigation systems, e.g. global positioning system [GPS]
- G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G})
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B61L: GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC (brakes or auxiliary equipment B61H, B61K; point or crossing construction E01B)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY

## Abstract

A sensor arrangement for position determination of a rail vehicle includes at least two sensors that can be attached to the rail vehicle. Each of the sensors is configured to ascertain a position speed and to be disposed on the rail vehicle at different positions transverse to the direction of travel. At least one processing apparatus which is connected to the sensors is configured to process the position speeds ascertained by the sensors. An apparatus for position determination of a rail vehicle, a rail vehicle, and a method for position determination for a rail vehicle are also provided.

## Claims

### Claim 1

An apparatus for position determination of a rail vehicle, the apparatus comprising:
at least one satellite navigation apparatus configured to provide GNSS data;
at least two sensors for ascertaining an angular velocity ω and a position speed of the rail vehicle, said at least two sensors configured to be attached to the rail vehicle at mutually different positions transverse to a direction of travel of the rail vehicle, at least one of said at least two sensors being:
an optical sensor, or
an inductive sensor, or
configured as dual radar;
at least one processing apparatus configured to process the position speeds ascertained by said at least two sensors and to ascertain the angular velocity ω of the rail vehicle by using a formula
ω
=
v
1
-
v
2
Δ
⁢
r
,
where v1 and v2 are position speeds ascertained by using said at least two sensors and Δr is a separation of said at least two sensors from each other; and
at least one checking apparatus configured to check the GNSS data provided by said at least one satellite navigation apparatus or a position ascertained from the GNSS data provided by said at least one satellite navigation apparatus;
said at least one checking apparatus configured to compare an angular velocity ascertained by using the GNSS data with the angular velocity ascertained by said at least two sensors and to trigger an action when a difference between the angular velocities exceeds a predetermined limit value.

### Claim 2 (depends on 1)

The apparatus according to claim 1, wherein at least one of said at least two sensors is an incremental distance indicator to be connected to a wheel not connected through a rigid axle to an opposite wheel transverse to the direction of travel of the rail vehicle.

### Claim 3 (depends on 1)

The apparatus according to claim 1, wherein at least one of said at least two sensors is an optical or inductive sensor.

### Claim 4 (depends on 1)

The apparatus according to claim 1, wherein said at least two sensors are configured to be disposed opposite each other transverse to the direction of travel of the rail vehicle.

### Claim 5 (depends on 1)

The apparatus according to claim 1, wherein said at least two sensors are configured to be disposed between two wheels of the rail vehicle as viewed in the direction of travel of the rail vehicle.

### Claim 6 (depends on 1)

The apparatus according to claim 1, wherein said at least two sensors disposed transverse to the direction of travel of the rail vehicle are separated by an identical distance from a midpoint of the rail vehicle.

### Claim 7 (depends on 1)

The apparatus according to claim 1, wherein said at least two sensors are configured to ascertain an average speed of the rail vehicle.

### Claim 8 (depends on 1)

A rail vehicle, comprising at least one apparatus for position determination according to claim 1.