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Localization and Tracking of Discrete Mobile Scatterers in Vehicular Environments Using Delay Estimates

Schmidhammer, Martin and Gentner, Christian and Siebler, Benjamin and Sand, Stephan (2019) Localization and Tracking of Discrete Mobile Scatterers in Vehicular Environments Using Delay Estimates. Sensors. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/s19214802. ISSN 1424-8220.

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This paper describes an approach to detect, localize, and track moving, non-cooperative objects by exploiting multipath propagation. In a network of spatially distributed transmitting and receiving nodes, moving objects appear as discrete mobile scatterers. Therefore, the localization of mobile scatterers is formulated as a nonlinear optimization problem. An iterative nonlinear least squares algorithm following Levenberg and Marquard is used for solving the optimization problem initially, and an extended Kalman filter is used for estimating the scatterer location recursively over time. The corresponding performance bounds are derived for both the snapshot based position estimation and the nonlinear sequential Bayesian estimation with the classic and the posterior Cramér-Rao lower bound. Thereby, a comparison of simulation results to the posterior Cramér-Rao lower bound confirms the applicability of the extended Kalman filter. % for an outdoor scenario. The proposed approach is applied to estimate the position of a walking pedestrian sequentially based on wideband measurement data in an outdoor scenario. The evaluation shows, that the pedestrian can be localized throughout the scenario with an accuracy of 0.8m at 90% confidence.

Item URL in elib:https://elib.dlr.de/129535/
Document Type:Article
Title:Localization and Tracking of Discrete Mobile Scatterers in Vehicular Environments Using Delay Estimates
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Schmidhammer, MartinUNSPECIFIEDhttps://orcid.org/0000-0002-9345-142XUNSPECIFIED
Gentner, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-4298-8195UNSPECIFIED
Siebler, BenjaminUNSPECIFIEDhttps://orcid.org/0000-0002-1745-408XUNSPECIFIED
Sand, StephanUNSPECIFIEDhttps://orcid.org/0000-0001-9502-5654UNSPECIFIED
Date:5 November 2019
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Keywords:mulitlateration; localization; nonlinear least-squares; levenberg-marquard; tracking; extended kalman filter; bayesian performance bounds; posterior cramér-rao lower bound
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Schmidhammer, Martin
Deposited On:15 Oct 2019 12:56
Last Modified:31 Oct 2023 13:41

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