Ulmschneider, Markus and Gentner, Christian and Dammann, Armin (2020) Matching Maps of Physical and Virtual Radio Transmitters Using Visibility Regions. In: 2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020. 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, USA. doi: 10.1109/plans46316.2020.9110139. ISBN 978-172810244-3. ISSN 2153-3598.
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Abstract
Channel-SLAM is a multipath assisted positioning algorithm that treats multipath components as line-of-sight (LoS) signals from virtual transmitters. It maps the physical and virtual transmitters’ locations simultaneously with estimating the user position with simultaneous localization and mapping (SLAM). Since Channel-SLAM is a relative localization system, the coordinate systems of transmitter maps from different users are subject to an unknown relative rotation and translation. In this paper, we present a new algorithm to estimate this rotation and translation, which we call map matching. Map matching is a requirement for collaborative Channel-SLAM, where users share transmitter maps to improve their positioning performance. Our idea is to augment maps of transmitter locations in Channel-SLAM with knowledge on from which locations there is a LoS condition to a transmitter in order to increase the robustness of map matching. We evaluate our algorithm by simulations in an indoor scenario.
Item URL in elib: | https://elib.dlr.de/131049/ | ||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
Title: | Matching Maps of Physical and Virtual Radio Transmitters Using Visibility Regions | ||||||||||||||||
Authors: |
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Date: | 2020 | ||||||||||||||||
Journal or Publication Title: | 2020 IEEE/ION Position, Location and Navigation Symposium, PLANS 2020 | ||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||
Open Access: | Yes | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||
DOI: | 10.1109/plans46316.2020.9110139 | ||||||||||||||||
ISSN: | 2153-3598 | ||||||||||||||||
ISBN: | 978-172810244-3 | ||||||||||||||||
Status: | Published | ||||||||||||||||
Keywords: | Channel-SLAM, cooperative positioning, map matching, simultaneous localization and mapping | ||||||||||||||||
Event Title: | 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS) | ||||||||||||||||
Event Location: | Portland, USA | ||||||||||||||||
Event Type: | international Conference | ||||||||||||||||
Organizer: | Institute of Navigation | ||||||||||||||||
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: | 08 Apr 2020 08:32 | ||||||||||||||||
Last Modified: | 24 Jul 2023 08:53 |
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