Research on Simultaneous Localization and Intrusion Detection Methodology for Intelligent Trains Based on Multisource Fusion by ZENG Xiang, JIANG Guotao, LYU Yu, LI Cheng, PAN Wenbo, LUO Ziqi

“…The initial integration of LiDAR, inertial measurement unit (IMU), and point-cloud map data facilitates the development of a least squares optimization model, and this model is used to determine train motion states based on the graph optimization theory, fulfilling the task of train localization. …”
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