| Summary: | A novel dead reckoning algorithm conceived for localization of small inspection rail vehicles in Global Navigation Satellite System (GNSS) denied environments is presented. This work focus on simplifying the rail vehicle localization task, taking into account restrictions on movement imposed by the railroad tracks. Considering that dead reckoning techniques accumulate errors over time, leading to increasing global uncertainty, a method was designed to correct the estimates and also smooth trajectory errors backwards in time, through visualization of global landmarks. Results show the effectiveness of this approach in reducing long-term position errors. The current document reports real railroad experiments, featuring a specially designed non-motorized mobile modeling vehicle.
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