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RANSAC for Exchanging Maps in Multipath Assisted Positioning

Ulmschneider, Markus and Gentner, Christian (2019) RANSAC for Exchanging Maps in Multipath Assisted Positioning. In: 2019 IEEE International Conference on Industrial Cyber Physical Systems, ICPS 2019. IEEE International Conference on Industrial Cyber Physical Systems (ICPS), 6.-9. Mai 2019, Taipeh, Taiwan. doi: 10.1109/ICPHYS.2019.8780353.

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Abstract

The classical approach to the multipath problem in positioning algorithms is to try to mitigate the influence of multipath components (sMPCs) on the line-of-sight (LoS) path. Over the last years, a contrary approach has emerged with multipath assisted positioning, where MPCs of terrestrial signals are regarded as LoS signals from virtual transmitters. Thus, the spatial information in MPCs is exploited for localization. The locations of the physical and virtual transmitters can be estimated together with the user position using simultaneous localization and mapping (SLAM). To decrease the possibly long convergence time of SLAM, maps of transmitters can be exchanged among users. The information in a map can then be fused with the user observations. However, in the general case, the users do not know their starting locations and/or headings, and therefore are in their own local coordinate systems. When maps of transmitters are exchanged, the relative rotation and translation between the coordinate systems of a user and a received map need to be estimated. Within this paper, we propose a variant of the random sample consensus (RANSAC) algorithm for this estimation as it is very robust against outliers. We show by simulations in an indoor scenario that RANSAC increases the accuracy significantly.

Item URL in elib:https://elib.dlr.de/126632/
Document Type:Conference or Workshop Item (Speech)
Title:RANSAC for Exchanging Maps in Multipath Assisted Positioning
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Ulmschneider, Markusmarkus.ulmschneider (at) dlr.dehttps://orcid.org/0000-0001-7241-7057
Gentner, Christianchristian.gentner (at) dlr.dehttps://orcid.org/0000-0003-4298-8195
Date:2019
Journal or Publication Title:2019 IEEE International Conference on Industrial Cyber Physical Systems, ICPS 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/ICPHYS.2019.8780353
Status:Published
Keywords:Channel-SLAM, RANSAC, simultaneous localization and mapping
Event Title:IEEE International Conference on Industrial Cyber Physical Systems (ICPS)
Event Location:Taipeh, Taiwan
Event Type:international Conference
Event Dates:6.-9. Mai 2019
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 - Project Navigation 4.0 (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Ulmschneider, Markus
Deposited On:10 Jul 2019 09:17
Last Modified:24 Feb 2022 18:42

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