Gentner, Christian und Pöhlmann, Robert und Ulmschneider, Markus und Jost, Thomas und Dammann, Armin (2015) Multipath Assisted Positioning for Pedestrians. In: 28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015. ION GNSS+ 2015, 2015-09-14 - 2015-09-18, Tampa, FL, USA.
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Kurzfassung
This paper presents and extends the idea of multipath assisted positioning, named Channel-SLAM. Generally, multipath reception degrades the accuracy of the positioning device as long as the receiver is based on standard methods. Strategies to mitigate multipath effects on range estimates are in general based on the estimation of the channel impulse response (CIR). All these methods have in common that they determine the CIR in order to remove the influence on the estimate of the line-of-sight (LoS) path delay. In contrast, Channel-SLAM uses the multipath propagation of the wireless signal to allow positioning in cases of insufficient number of transmitters or increase the accuracy otherwise. Channel-SLAM treats multipath components (MPCs) as signals from virtual transmitters (VTs) which are time synchronized to the physical transmitter and fixed in their position. To use the information of the MPCs, Channel-SLAM estimates the user position and the position of the VTs simultaneously and does not require any prior information such as room-layout or a database for fingerprinting. This paper investigates Channel-SLAM for pedestrian navigation. For Channel-SLAM it is essential to obtain angle of arrival (AoA) information for each MPC in order to estimate the VT positions. However, obtaining AoA information in mobile receivers like smartphones is difficult in most of the cases. Hence, the paper uses the heading information of an inertial measurement unit (IMU) to omit the AoA information and to improve the accuracy of Channel-SLAM. The algorithm is evaluated based on measurements with a moving pedestrian and one fixed transmitter. These evaluations demonstrate the concept of Channel-SLAM. We show, that Channel-SLAM is able to determine VT positions accurately. Furthermore, we show that accurate position estimation is possible without the knowledge of the physical transmitter position by using MPCs and the heading information of an IMU. The only conditions to be fulfilled are the presence of a multipath environment, a moving receiver equipped with an IMU as well as an initial prior knowledge of the receiver states, i.e. position and moving direction.
elib-URL des Eintrags: | https://elib.dlr.de/97625/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | Multipath Assisted Positioning for Pedestrians | ||||||||||||||||||||||||
Autoren: |
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Datum: | 2015 | ||||||||||||||||||||||||
Erschienen in: | 28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015 | ||||||||||||||||||||||||
Referierte Publikation: | Nein | ||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Channel-SLAM, multipath, multipath assiseted positioning, SLAM, virtual transmitter | ||||||||||||||||||||||||
Veranstaltungstitel: | ION GNSS+ 2015 | ||||||||||||||||||||||||
Veranstaltungsort: | Tampa, FL, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 14 September 2015 | ||||||||||||||||||||||||
Veranstaltungsende: | 18 September 2015 | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Kommunikation und Navigation | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R KN - Kommunikation und Navigation | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Projekt Verläßliche Navigation (alt) | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Kommunikation und Navigation > Nachrichtensysteme | ||||||||||||||||||||||||
Hinterlegt von: | Gentner, Dr. Christian | ||||||||||||||||||||||||
Hinterlegt am: | 22 Sep 2015 09:44 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:03 |
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