Abstract
In multipath assisted positioning, multipath components (MPCs) are regarded as line-of-sight (LoS) signals from virtual transmitters. Instead of trying to mitigate the influence of MPCs, the spatial information contained in MPCs is exploited for localization. The locations of the physical and virtual transmitters are in general unknown but can be estimated with simultaneous localization and mapping (SLAM). Recently, a multipath assisted positioning algorithm named Channel-SLAM for terrestrial radio signals has been introduced. It simultaneously tracks the position of a receiver and maps the locations of physical and virtual radio transmitters. Maps of estimated transmitter locations can be augmented by additional information. Within this paper, we propose to extend the Channel-SLAM algorithm by mapping information about the visibility of transmitters. A physical or virtual transmitter is visible, if its signal is received in a LoS condition. We derive a novel particle filter for Channel-SLAM that estimates and exploits visibility information on transmitters in addition to their locations. We show by means of simulations in an indoor scenario that our novel particle filter improves the positioning performance of Channel-SLAM considerably.
Highlights
Precise localization in indoor and other global navigation satellite system (GNSS) denied scenarios has been both a requirement and an enabler for a variety of services and applications.For indoor localization, various radio signal based approaches have been introduced, such as fingerprinting [1] or approaches based on the estimation of signal parameters of signal of opportunitys (SoOs) [2], [3]
In [30], we have shown how visibility information can improve the robustness of data association, i.e, the association among signal components and transmitters, in Channel-simultaneous localization and mapping (SLAM)
We show with simulations that visibility information does improve the positioning performance of Channel-SLAM considerably
Summary
Precise localization in indoor and other global navigation satellite system (GNSS) denied scenarios has been both a requirement and an enabler for a variety of services and applications. The locations of physical and virtual transmitters can be estimated jointly with the receiver position with SLAM [17], [18]. In addition to the locations of transmitters, visibility information, i.e., the information from which positions the LoS signal from a physical or virtual transmitter can be received, can be mapped by a user. The transmit signal s(t) from a physical transmitter arrives at the user via different propagation paths and can be modeled at the receiver as a superposition of signal components. There is no differentiation between physical and virtual transmitters in Channel-SLAM, and no differentiation between the LoS component and MPCs of a received signal. We denote the expectation value of the Beta distribution in (23) by E, where
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