Sensors - Localization Reference Train

Combined the LRT initiative has access to the following sensors:

Navigation grade MEMS based inertial navigation system (INS) with tightly coupled INS/GNSS fusion capabilities:

Gyroscopes:
- range: $\pm 400 \, ^\circ/\mathrm{s}$
- bias stability: $<0.5 \, ^\circ/\mathrm{h}$
- scale factor error: $0.1 \, \mathrm{\%}$
- random walk: $0.2 \, ^\circ/\sqrt{\mathrm{h}}$
Acceleration:
- range: $\pm 10 \, \mathrm{g}$
- bias stability: $<0.3 \, \mathrm{mg}$
- scale factor error: $0.15 \, \mathrm{\%}$
- noise density: $< 0.3 \, \mathrm{mg}$
GNSS receiver:
- bands: L1/L2
- constellations: GPS, GLONASS
Positioning (internal tightly coupled sensor fusion):
- output rate: $\mathrm{max.}\, 500\,\mathrm{Hz}$
- attitude (Roll,Pitch/Yaw): $0.03 \, ^\circ/0.1 \, ^\circ$
- position (horizontal):
  - $\pm 2 \, \mathrm{m}\text{ CEP (INS/GNSS)}$
  - $\pm 0.4 \, \mathrm{m}\text{ CEP (INS/GNSS + SBAS)}$
- velocity: $\pm 0.05 \, \mathrm{m/s}$

Single-layer lidar sensor: