INS-aided GNSS jamming protection in support of resilient train positioning

Railway safety and efficiency increasingly rely on precise train positioning. The integration of the Global Navigation Satellite System (GNSS) into railway control systems aims to reduce dependence on track-side infrastructure. While GNSS has significantly improved train localization, challenges such as the susceptibility to jamming remain. To address this, this paper introduces an Inertial Navigation System (INS)-aided train positioning system based on deep integration, exploring its performance through semi-physical experiments and simulations. Experimental results demonstrate that the proposed solution is able to reduce the positioning error by 63.47 %, and the velocity error by 58.47 % under jamming conditions. The study highlights the potential of deep integration for improving the resilience of GNSS-based train control systems, especially in the face of Radio Frequency (RF) jamming threats.