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Bruno, Luigi and Robertson, Patrick (2013) Observability of Path Loss Parameters in WLAN-Based Simultaneous Localization and Mapping. In: 2013 International Conference on Indoor Positioning and Indoor Navigation. IPIN 2013, 28 - 31 Oct 2013, Montbeliard, France. (In Press)
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Abstract
Indoor positioning by means of received signal strengths has been gathering much interest since the massive presence of wireless local area networks (WLANs) in buildings. Theoretical approaches rely on the perfect knowledge of the APs' positions and propagation conditions; since this is unrealistic in real world, we estimate such knowledge as well as the building map from data by applying Simultaneous Localization and Mapping (SLAM). In this paper we address the joint estimation of the path loss parameters, namely the transmitted power and the path loss exponent, this latter being usually approximated in the literature by the free space value. We provide examples that show the relevance of estimating both parameters and analyze observability issues from the point of view of estimation theory. The integration of the parameter estimation in a WLAN based SLAM algorithm - WiSLAM - has been carried out and the results are discussed.
| Item URL in elib: | https://elib.dlr.de/84370/ | |||||||||
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| Document Type: | Conference or Workshop Item (Speech) | |||||||||
| Title: | Observability of Path Loss Parameters in WLAN-Based Simultaneous Localization and Mapping | |||||||||
| Authors: |
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| Date: | October 2013 | |||||||||
| Journal or Publication Title: | 2013 International Conference on Indoor Positioning and Indoor Navigation | |||||||||
| Refereed publication: | Yes | |||||||||
| Open Access: | Yes | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| Status: | In Press | |||||||||
| Keywords: | Indoor SLAM, RBPF, indoor navigation, step measurements, RSS. | |||||||||
| Event Title: | IPIN 2013 | |||||||||
| Event Location: | Montbeliard, France | |||||||||
| Event Type: | international Conference | |||||||||
| Event Dates: | 28 - 31 Oct 2013 | |||||||||
| Organizer: | Université de Franche-Comté - UFC | |||||||||
| 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 - Vorhaben GNSS2/Neue Dienste und Produkte | |||||||||
| Location: | Oberpfaffenhofen | |||||||||
| Institutes and Institutions: | Institute of Communication and Navigation > Communications Systems | |||||||||
| Deposited By: | Bruno, Dr Luigi | |||||||||
| Deposited On: | 14 Jan 2014 17:31 | |||||||||
| Last Modified: | 31 Jul 2019 19:42 |
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