Techniques and associated systems and methods for determining train motion characteristics

A system for determining motion characteristics of a train traveling along a train track, the system comprising:

• at least one RF antenna configured to receive RF signals from at least one anchor node positioned proximate the train track;
• at least one inertial measurement unit (IMU) configured to generate IMU data responsive to motion of the train along the train track;
• and
• at least one processor configured to:
• determine at least one distance between the at least one RF antenna and the at least one anchor node using at least one of the RF signals received by the at least one RF antenna from the at least one anchor node positioned proximate the train track;
• and
• determine one or more motion characteristics of the train by processing the at least one distance and the IMU data using a Bayesian estimation algorithm, wherein processing the at least one distance and the IMU data to determine the one or more motion characteristics includes:
• inputting the at least one distance to the Bayesian estimation algorithm;
• inputting the IMU data to the Bayesian estimation algorithm;
• and
• obtaining the one or more motion characteristics as an output from the Bayesian estimation algorithm produced by the Bayesian estimation algorithm based, at least in part, on the at least one distance and the IMU data.