Keywords: train localisation, one-dimensional light detection and ranging sensor, onboard sensor fusion, addition of a tiny specific structure, moving average, robust estimation.

Train localisation is a crucial aspect of railway signalling systems, essential for ensuring safety and efficiency. Traditional methods mainly depend on track circuits, tachometers, and balises. These systems often encounter cost, maintenance, and accuracy challenges despite their usefulness. This study introduces an innovative approach to accurate train localisation using cost-effective onboard sensors, notably a one-dimensional Light Detection and Ranging sensor mounted atop train carriages. This arrangement allows for precise measurement of the distance from the train to the lowest part of surrounding structures. Introducing a small, recognisable marker, called cubic code, on these structures aids in their identification. Our methodology achieved a 100% success rate in cubic code detection across 320 evaluations. This research highlights the feasibility of employing cubic codes and onboard sensors for effective train localisation.

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