“…In order to meet the extremely high safety requirements of CTCS-3 in railway passenger dedicated lines, the architecture of the train-borne speed measurement subsystem has changed from a single wheel speed sensor to the fusion of multiple speed sensors, which can take full advantage of redundant data and complementary information of multiple kinds of speed sensors with different working principles. With the advantage of high-accuracy, wide-range, long-lifetime, stability, and reliability [6][7][8][9], the 24 GHz continuous wave (CW) Doppler radar sensor (DRS) has been widely used in high-speed and urban rail trains, working together with some of the other conventional wheel speed sensors to directly measure the instantaneous speed of trains in real time by using a non-contact approach, which is not affected by wheel slip and spin. Unlike the dual-sided symmetrical structure of vehicle-borne dual-channel DRS with the Janus configuration, which is used as a mobile standard speed-measuring instrument for the field verification of traffic speed meters in road traffic [10][11][12], train-borne dual-channel DRSs usually adopt a single-sided asymmetric structure, which is a more common and complicated configuration than the Janus configuration used in vehicle-borne dual-channel DRSs and seeks no approximation methods for the solution on train speed calculation [10].…”