Recognition of switch layouts in the task of rolling stock positional navigation

The paper suggests an approach to using the switch layouts to correct the readings of the locomotive navigation system equipped with a vision system. The coordinates of the intersection centers can be obtained from the information of digital road maps, and the current distance to them is calculated from the information of the vision system and the adopted mathematical model of the convergence/divergence of the railways of the turnout switch. The developed algorithm quality is checked on a large amount of full-scale data.