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Simultaneous Localization and Calibration for Cooperative Radio Navigation

Pöhlmann, Robert and Zhang, Siwei and Staudinger, Emanuel and Dammann, Armin and Hoeher, Peter A. (2022) Simultaneous Localization and Calibration for Cooperative Radio Navigation. IEEE Transactions on Wireless Communications, 21 (8), pp. 6195-6210. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TWC.2022.3147671. ISSN 1536-1276.

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Abstract

Cooperative radio localization and navigation systems can be used in scenarios where the reception of global navigation satellite system (GNSS) signals is not possible or impaired. While the benefit of cooperation has been highlighted by many papers, calibration is not widely considered, but equally important in practice. Utilizing the signal propagation time requires group delay or ranging bias calibration and estimating the direction-of-arrival (DoA) requires antenna response calibration. Often, calibration parameters are determined only once before operation. However, the calibration parameters are influenced by e.g. changing temperatures of radio frequency (RF) components or changing surroundings of antennas. To cope with that, we derive a cooperative simultaneous localization and calibration (SLAC) algorithm based on Bayesian filtering, which estimates antenna responses and ranging biases simultaneously with positions and orientations. By simulations, we show that the calibration parameters can be estimated during operation without additional sensors. We further proof practical applicability of SLAC by evaluating measurement data from robotic rovers. With SLAC, both ranging and DoA estimation performance is improved, resulting in better position and orientation estimation accuracy. SLAC is thus able to provide reliable calibration and to mitigate model mismatch. Finally, we discuss open research questions and possible extensions of SLAC.

Item URL in elib:https://elib.dlr.de/148557/
Document Type:Article
Title:Simultaneous Localization and Calibration for Cooperative Radio Navigation
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Pöhlmann, RobertRobert.Poehlmann (at) dlr.dehttps://orcid.org/0000-0001-7362-9406
Zhang, SiweiSiwei.Zhang (at) dlr.dehttps://orcid.org/0000-0003-4390-458X
Staudinger, EmanuelEmanuel.Staudinger (at) dlr.dehttps://orcid.org/0000-0002-9601-2887
Dammann, ArminArmin.Dammann (at) dlr.dehttps://orcid.org/0000-0002-7112-1833
Hoeher, Peter A.University of Kiel, Germanyhttps://orcid.org/0000-0003-3475-1710
Date:August 2022
Journal or Publication Title:IEEE Transactions on Wireless Communications
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:21
DOI:10.1109/TWC.2022.3147671
Page Range:pp. 6195-6210
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1536-1276
Status:Published
Keywords:Antenna arrays, antenna response, array signal processing, direction-of-arrival, multi-mode antenna, ranging
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 - Swarm navigation
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation
Institute of Communication and Navigation > Communications Systems
Deposited By: Pöhlmann, Robert
Deposited On:28 Jan 2022 16:43
Last Modified:23 Aug 2022 13:31

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