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Positioning Using Terrestrial Multipath Signals and Inertial Sensors

Gentner, Christian and Pöhlmann, Robert and Ulmschneider, Markus and Jost, Thomas and Zhang, Siwei (2017) Positioning Using Terrestrial Multipath Signals and Inertial Sensors. Mobile Information Systems. Hindawi Publishing Corporation. DOI: 10.1155/2017/9170746 ISSN 1574-017X

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Abstract

This paper extends an algorithm that exploits multipath propagation for position estimation of mobile receivers named Channel-SLAM. Channel-SLAM treats multipath components (MPCs) as signals from virtual transmitters (VTs) and estimates the positions of the VTs simultaneously with the mobile receiver positions. For Channel-SLAM it is essential to obtain angle of arrival (AoA) measurements for each MPC in order to estimate the VT positions. In this paper, we propose a novel Channel-SLAM implementation based on particle filtering which fuses heading information of an inertial measurement unit (IMU) to omit AoA measurements and to improve the position accuracy. Interpreting all MPCs as signals originated from VTs, Channel-SLAM enables positioning also in non-line-of-sight situations. Furthermore, we propose a method to dynamically adapt the number of particles which significantly reduces the computational complexity. A posterior Cramér-Rao lower bound for Channel-SLAM is derived which incorporates the heading information of the inertial measurement unit (IMU). We evaluate the proposed algorithm based on measurements with a single fixed transmitter and a moving pedestrian carrying the receiver and the IMU. The evaluations show that accurate position estimation is possible without the knowledge of the physical transmitter position by exploiting MPCs and the heading information of an IMU.

Item URL in elib:https://elib.dlr.de/114476/
Document Type:Article
Title:Positioning Using Terrestrial Multipath Signals and Inertial Sensors
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gentner, Christianchristian.gentner (at) dlr.dehttps://orcid.org/0000-0003-4298-8195
Pöhlmann, Robertrobert.poehlmann (at) dlr.dehttps://orcid.org/0000-0001-7362-9406
Ulmschneider, Markusmarkus.ulmschneider (at) dlr.dehttps://orcid.org/0000-0001-7241-7057
Jost, Thomasthomas.jost (at) dlr.dehttps://orcid.org/0000-0003-1413-5427
Zhang, Siweisiwei.zhang (at) dlr.dehttps://orcid.org/0000-0003-4390-458X
Date:2017
Journal or Publication Title:Mobile Information Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1155/2017/9170746
Publisher:Hindawi Publishing Corporation
ISSN:1574-017X
Status:Published
Keywords:Multipath, SLAM, Multipath Assisted Positioning, Simultaneous Localization and Mapping, IMU, Inertial Measurement Unit, Fusion, Positioning, Measurements, Movment Model, Pedestrian
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:17 Oct 2017 09:05
Last Modified:08 Mar 2018 18:39

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