elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Simultaneous Localization and Mapping in Multipath Environments: Mapping and Reusing of Virtual Transmitters

Gentner, Christian and Ma, Boxiao and Pöhlmann, Robert and Jost, Thomas and 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, 12-16 Oktober, Portland, Oregon, USA.

[img] PDF
4MB

Abstract

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.

Item URL in elib:https://elib.dlr.de/105126/
Document Type:Conference or Workshop Item (Speech)
Title:Simultaneous Localization and Mapping in Multipath Environments: Mapping and Reusing of Virtual Transmitters
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gentner, ChristianChristian.Gentner (at) dlr.deUNSPECIFIED
Ma, BoxiaoBoxiao.Ma (at) dlr.deUNSPECIFIED
Pöhlmann, RobertRobert.Poehlmann (at) dlr.deUNSPECIFIED
Jost, ThomasThomas.Jost (at) dlr.deUNSPECIFIED
Dammann, ArminArmin.Dammann (at) dlr.deUNSPECIFIED
Date:14 November 2016
Journal or Publication Title:29th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2016
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Channel-SLAM, multipath, positioning, SLAM, multipath assisted
Event Title:ION GNSS+ 2016
Event Location:Portland, Oregon, USA
Event Type:international Conference
Event Dates:12-16 Oktober
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 - Vorhaben GNSS2/Neue Dienste und Produkte
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Gentner, Christian
Deposited On:14 Nov 2016 14:18
Last Modified:31 Jul 2019 20:02

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.