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Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning
Joint Authors
Jost, Thomas
Gentner, Christian
Ulmschneider, Markus
Dammann, Armin
Source
Journal of Electrical and Computer Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-04-23
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Information Technology and Computer Science
Abstract EN
In multipath assisted positioning, multipath components arriving at a receiver are regarded as being transmitted by a virtual transmitter in a line-of-sight condition.
As the locations and clock offsets of the virtual and physical transmitters are in general unknown, simultaneous localization and mapping (SLAM) schemes can be applied to simultaneously localize a user and estimate the states of physical and virtual transmitters as landmarks.
Hence, multipath assisted positioning enables localizing a user with only one physical transmitter depending on the scenario.
In this paper, we present and derive a novel filtering approach for our multipath assisted positioning algorithm called Channel-SLAM.
Making use of Rao-Blackwellization, the location of a user is tracked by a particle filter, and each landmark is represented by a sum of Gaussian probability density functions, whose parameters are estimated by unscented Kalman filters.
Since data association, that is, finding correspondences among landmarks, is essential for robust long-term SLAM, we also derive a data association scheme.
We evaluate our filtering approach for multipath assisted positioning by simulations in an urban scenario and by outdoor measurements.
American Psychological Association (APA)
Ulmschneider, Markus& Gentner, Christian& Jost, Thomas& Dammann, Armin. 2018. Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning. Journal of Electrical and Computer Engineering،Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1184465
Modern Language Association (MLA)
Ulmschneider, Markus…[et al.]. Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning. Journal of Electrical and Computer Engineering No. 2018 (2018), pp.1-15.
https://search.emarefa.net/detail/BIM-1184465
American Medical Association (AMA)
Ulmschneider, Markus& Gentner, Christian& Jost, Thomas& Dammann, Armin. Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning. Journal of Electrical and Computer Engineering. 2018. Vol. 2018, no. 2018, pp.1-15.
https://search.emarefa.net/detail/BIM-1184465
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1184465