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Simultaneous Localization and Mapping in Multipath Environments

Gentner, Christian and Ma, Boxiao and Ulmschneider, Markus and Jost, Thomas and Dammann, Armin (2016) Simultaneous Localization and Mapping in Multipath Environments. In: Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016. IEEE/ION PLANS 2016, 11.-14. April 2016, Savannah, Georgia, USA.

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Abstract

This paper presents and extends the idea of mul- tipath assisted positioning, named Channel-SLAM. Channel- SLAM uses multipath propagation to allow positioning for an insufficient number of transmitters or increase the accuracy otherwise. Channel-SLAM treats multipath components (MPCs) as signals from virtual transmitters (VTs) which are time syn- chronized to the physical transmitter and fixed in their position. To use the information of the MPCs, Channel-SLAM estimates the receiver position and the position of the VTs simultaneously using simultaneous localization and mapping (SLAM) and does not require any prior information such as room-layout or a database for fingerprinting. This paper investigates mapping, where we derive a probabilistic map representation based on the receiver positions. Thus, if the receiver knows its current location, the information in the probabilistic map helps to estimate the trajectory of further receiver movement. Hence, as soon as the receiver returns to an already mapped position, information of the probabilistic map can be used for the movement to obtain better estimations of the receiver position. The algorithm is evaluated based on measurements with one fixed transmitter and a moving pedestrian which moves on partially overlapping loops.

Item URL in elib:https://elib.dlr.de/103288/
Document Type:Conference or Workshop Item (Speech)
Title:Simultaneous Localization and Mapping in Multipath Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gentner, ChristianChristian.Gentner (at) dlr.deUNSPECIFIED
Ma, BoxiaoBoxiao.Ma (at) dlr.deUNSPECIFIED
Ulmschneider, Markusmarkus.ulmschneider (at) dlr.deUNSPECIFIED
Jost, Thomasthomas.jost (at) dlr.deUNSPECIFIED
Dammann, ArminArmin.Dammann (at) DLR.deUNSPECIFIED
Date:May 2016
Journal or Publication Title:Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:SLAM, Channel-SLAM, IMU, Multisensor, Multipath, Multipath Assisted Positioning, Positioning, SoO, PF, Particle Filter
Event Title:IEEE/ION PLANS 2016
Event Location:Savannah, Georgia, USA
Event Type:international Conference
Event Dates:11.-14. April 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Verläßliche Navigation (old), R - Vorhaben GNSS2/Neue Dienste und Produkte
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Gentner, Christian
Deposited On:18 May 2016 18:52
Last Modified:31 Jul 2019 20:00

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