Gentner, Christian und Ma, Boxiao und Pöhlmann, Robert und Jost, Thomas und Dammann, Armin (2016) Simultaneous Localization and Mapping in Multipath Environments: Mapping and Reusing of Virtual Transmitters. In: 29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016. ION GNSS+ 2016, 2016-10-12 - 2016-10-16, Portland, Oregon, USA. doi: 10.33012/2016.14566.
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Kurzfassung
Channel-SLAM is an algorithm which uses multipath propagation for positioning and treats multipath components (MPCs) as line-of-sight (LoS) signals originated from virtual transmitters (VTs). 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. Similar to SLAM approaches, we estimate, map and reuse VT positions in this paper. The algorithm is evaluated based on measurements in an indoor scenario with one fixed transmitter and a moving receiver. We show that indoor positioning is possible with only one transmitter when MPCs are used.
elib-URL des Eintrags: | https://elib.dlr.de/105126/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Simultaneous Localization and Mapping in Multipath Environments: Mapping and Reusing of Virtual Transmitters | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2016 | ||||||||||||||||||||||||
Erschienen in: | 29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016 | ||||||||||||||||||||||||
Referierte Publikation: | Nein | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
DOI: | 10.33012/2016.14566 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Channel-SLAM, multipath, positioning, SLAM, multipath assisted | ||||||||||||||||||||||||
Veranstaltungstitel: | ION GNSS+ 2016 | ||||||||||||||||||||||||
Veranstaltungsort: | Portland, Oregon, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 12 Oktober 2016 | ||||||||||||||||||||||||
Veranstaltungsende: | 16 Oktober 2016 | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Kommunikation und Navigation | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R KN - Kommunikation und Navigation | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben GNSS2/Neue Dienste und Produkte (alt) | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Kommunikation und Navigation > Nachrichtensysteme | ||||||||||||||||||||||||
Hinterlegt von: | Gentner, Dr. Christian | ||||||||||||||||||||||||
Hinterlegt am: | 14 Nov 2016 14:18 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:10 |
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