Trams can be positioned more accurately in dense cities by pulling raw GPS distance measurements toward predicted values and softly constraining positions to the track map.
Demonstrations of Multi-constellation Ad- vanced RAIM for Vertical Guidance Using GPS and GLONASS Signals
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Tram Positioning with Map-Enabled GNSS Data Reconciliation
Trams can be positioned more accurately in dense cities by pulling raw GPS distance measurements toward predicted values and softly constraining positions to the track map.