Radio-Based Simultaneous Localization and Mapping Exploiting Low-Complexity Angular Information

Kurzfassung

Multipath propagation can be exploited as a source of geometric information for radio-based localization and mapping. This paper investigates a multipath-assisted approach for jointly estimating the position of a moving receiver and the reflection points in its surroundings. Building on previous work, we compare low-complexity angular information from a two-antenna receiver array using phase difference of arrival (PDoA), Doppler, and their combination. In realistic scenarios, we also considered snapshot-based initialization, multi-hypothesis tracking, and simultaneous self-localization. Since the approach requires only a simple ranging protocol and two receiver antennas, it is suitable for low-cost radio platforms such as ultra-wideband systems. Simulation results demonstrate that reflection points (RPs) can be tracked using distance measurements combined with angular information from PDoA, Doppler, or both. The results show that estimation performance depends strongly on the orientation of the measurement symmetry axis. Tracking is more stable and accurate when this axis is perpendicular to the propagation path. In realistic scenarios, the combination of distance, Doppler, and PDoA measurements with perpendicular symmetry axes provided the most robust tracking performance and also resolved initialization ambiguities quickly. The results highlight the potential of direct RP estimation for mapping unknown, non-planar, and irregular environments without relying on static virtual transmitters or straight-wall models.