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Simultaneous Localization of a Receiver and Mapping of Multipath Generating Geometry in Indoor Environments

Gentner, Christian and Ulmschneider, Markus and Karasek, Rostislav and Dammann, Armin (2021) Simultaneous Localization of a Receiver and Mapping of Multipath Generating Geometry in Indoor Environments. 2021 IEEE Radar Conference, Atlantea, GA, USA.

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Abstract

This paper presents an algorithm that aims at combining the pre-existing and dominating applications of radio signals, namely communication, navigation and sensing of an environment into an integrated approach. In wireless propagation the transmitted signal is reflected and scattered by objects. Especially in indoor or urban scenarios, the signal reaching the receive antenna consists of multiple paths, called multipath. Multipath reception degrades the accuracy of the positioning device as long as the receiver is based on standard methods. With Channel-SLAM we introduced an algorithm which uses multipath components (MPCs) for positioning instead of mitigating them. In this paper, we show that MPCs allow us in addition to estimating the position of a receiver, to estimate the locations of reflecting surfaces and scatterers. We show that these estimations relate to floor plans of indoor environments. To verify the proposed algorithm, we evaluate the algorithm based on measurements using an ultra-wideband (UWB) system, the Decawaves DW1000 UWB transceiver.

Item URL in elib:https://elib.dlr.de/142699/
Document Type:Conference or Workshop Item (Speech)
Title:Simultaneous Localization of a Receiver and Mapping of Multipath Generating Geometry in Indoor Environments
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Gentner, Christianchristian.gentner (at) dlr.dehttps://orcid.org/0000-0003-4298-8195
Ulmschneider, Markusmarkus.ulmschneider (at) dlr.dehttps://orcid.org/0000-0001-7241-7057
Karasek, RostislavRostislav.Karasek (at) dlr.dehttps://orcid.org/0000-0003-0666-8581
Dammann, ArminArmin.Dammann (at) dlr.dehttps://orcid.org/0000-0002-7112-1833
Date:May 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Multipath, mutlipath assisted positioning, channel-slam, map, SLAM, Particle filter
Event Title:2021 IEEE Radar Conference
Event Location:Atlantea, GA, USA
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication, Navigation, Quantum Technology
DLR - Research area:Raumfahrt
DLR - Program:R KNQ - Communication, Navigation, Quantum Technology
DLR - Research theme (Project):R - Project Navigation 4.0
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Gentner, Christian
Deposited On:14 Jun 2021 13:42
Last Modified:14 Jun 2021 13:42

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