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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Abstract
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/ | ||||||||||||||||||||
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Document Type: | Article | ||||||||||||||||||||
Title: | Localization and Tracking of Discrete Mobile Scatterers in Vehicular Environments Using Delay Estimates | ||||||||||||||||||||
Authors: |
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Date: | 5 November 2019 | ||||||||||||||||||||
Journal or Publication Title: | Sensors | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||
Gold Open Access: | Yes | ||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||
DOI: | 10.3390/s19214802 | ||||||||||||||||||||
Publisher: | Multidisciplinary Digital Publishing Institute (MDPI) | ||||||||||||||||||||
ISSN: | 1424-8220 | ||||||||||||||||||||
Status: | Published | ||||||||||||||||||||
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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