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Simultaneous Localization and Mapping using Terrestrial Multipath Signals, GNSS and Inertial Sensors

Gentner, Christian and Pöhlmann, Robert and Ulmschneider, Markus and Jost, Thomas and Dammann, Armin (2017) Simultaneous Localization and Mapping using Terrestrial Multipath Signals, GNSS and Inertial Sensors. In: Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation. ION GNSS+ 2017, Portland, Oregon, USA.

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Abstract

This paper develops a multisensor positioning filter for seamless indoor and outdoor positioning. Generally, multipath propagation of radio signals degrades the accuracy of the positioning device if the receiver is based on standard methods. In contrast, we use a multipath assisted positioning algorithm called Channel-SLAM, which exploits multipath propagation of radio signals emitted by a terrestrial transmitter for positioning. Channel-SLAM treats multipath components (MPCs) as signals from virtual transmitters (VTs) with static location. Hence, with each received MPC the number of transmitters increases. As the locations of these VTs are unknown, Channel-SLAM concurrently estimates the position of the user and the VTs using a simultaneous localization and mapping (SLAM) methodology. This enables positioning with only a single physical transmitter. However, Channel-SLAM is a relative positioning system and works in a local coordinate system, which is a limitation for practical applications. Therefore this paper develops a sensor fusion concept to integrate a global navigation satellite system (GNSS) and inertial sensors to allow unique, global positioning with enhanced accuracy. The positioning algorithm is based on a Rao-Blackwellised particle filter (PF). Moreover, the developed positioning algorithm is evaluated based on measurement data obtained in a real-world outdoor and indoor scenario, where the position of the terrestrial transmitter is unknown.

Item URL in elib:https://elib.dlr.de/112644/
Document Type:Conference or Workshop Item (Speech)
Title:Simultaneous Localization and Mapping using Terrestrial Multipath Signals, GNSS and Inertial Sensors
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gentner, Christianchristian.gentner (at) dlr.deUNSPECIFIED
Pöhlmann, Robertrobert.poehlmann (at) dlr.deUNSPECIFIED
Ulmschneider, Markusmarkus.ulmschneider (at) dlr.deUNSPECIFIED
Jost, Thomasthomas.jost (at) dlr.deUNSPECIFIED
Dammann, Arminarmin.dammann (at) dlr.deUNSPECIFIED
Date:2017
Journal or Publication Title:Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Channel-SLAM, Multipath Assisted Positioning, GPS, GNSS, Fusion, Sensorfusion, IMU, Gyroscope, Ineratial Measurement Unit, Indoor Positioning, Positioning, Multipath, MPC, SLAM, Simultaneous Localization and Mapping
Event Title:ION GNSS+ 2017
Event Location:Portland, Oregon, USA
Event Type:international Conference
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, R - Project Navigation 4.0
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Institute of Communication and Navigation
Deposited By: Gentner, Christian
Deposited On:11 Dec 2017 09:40
Last Modified:23 Nov 2018 14:12

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