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Multipath Assisted Positioning with Simultaneous Localization and Mapping

Gentner, Christian and Jost, Thomas and Wang, Wei and Zhang, Siwei and Dammann, Armin and Fiebig, Uwe-Carsten (2016) Multipath Assisted Positioning with Simultaneous Localization and Mapping. IEEE Wireless Communications, 15 (9), pp. 6104-6117. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TWC.2016.2578336. ISSN 1536-1284.

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Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487067&isnumber=7563476


This paper describes an algorithm that exploits multipath propagation for position estimation of mobile receivers. We apply a novel algorithm based on recursive Bayesian filtering, named Channel-SLAM. This approach treats multipath components as signals emitted from virtual transmitters which are time synchronized to the physical transmitter and static in their positions. Contrarily to other approaches, Channel-SLAM considers also paths occurring due to multiple numbers of reflections or scattering as well as the combination. Hence, each received multipath component increases the number of transmitters resulting in a more accurate position estimate or enabling positioning when the number of physical transmitters is insufficient. Channel-SLAM estimates the receiver position and the positions of the virtual transmitters simultaneously, hence, the approach does not require any prior information such as a room-layout or a database for fingerprinting. The only Prior knowledge needed is the physical transmitter position as well as the initial receiver position and moving direction. Based on simulations, the position precision of Channel-SLAM is evaluated by a comparison to simplified algorithms and to the posterior Cramér-Rao lower bound. Furthermore, the paper shows the performance of Channel-SLAM based on measurements in an indoor scenario with only a single physical transmitter.

Item URL in elib:https://elib.dlr.de/106654/
Document Type:Article
Title:Multipath Assisted Positioning with Simultaneous Localization and Mapping
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Gentner, ChristianChristian.Gentner (at) dlr.deUNSPECIFIED
Jost, Thomasthomas.jost (at) dlr.deUNSPECIFIED
Wang, Weiwei.wang (at) dlr.deUNSPECIFIED
Zhang, Siweisiwei.zhang (at) dlr.deUNSPECIFIED
Dammann, ArminArmin.Dammann (at) DLR.deUNSPECIFIED
Fiebig, Uwe-CarstenUwe-Carsten.Fiebig (at) dlr.deUNSPECIFIED
Date:September 2016
Journal or Publication Title:IEEE Wireless Communications
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1109/TWC.2016.2578336
Page Range:pp. 6104-6117
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Channel-SLAM, CRLB, multipath, positioning, particle filter, SLAM
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 (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Gentner, Christian
Deposited On:26 Oct 2016 09:50
Last Modified:20 Jun 2021 15:48

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