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.
An Optimized Multiple Hypothesis RAIM Algorithm for Vertical Guidance
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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.