Matching Maps of Physical and Virtual Radio Transmitters Using Visibility Regions

Publikationstyp
Conference Paper
Date Issued
2020-04
Sprache
English
Author(s)
Ulmschneider, Markus  orcid-logo
Gentner, Christian  
Dammann, Armin  
TORE-URI
http://hdl.handle.net/11420/9101
Start Page
375
End Page
382
Article Number
9110139
Citation
IEEE/ION Position, Location and Navigation Symposium (PLANS 2020)
Contribution to Conference
IEEE/ION Position, Location and Navigation Symposium, PLANS 2020  
Publisher DOI
10.1109/PLANS46316.2020.9110139
Scopus ID
2-s2.0-85087052622
Channel-SLAM is a multipath assisted positioning algorithm that treats multipath components as line-of-sight (LoS) signals from virtual transmitters. It maps the physical and virtual transmitters' locations simultaneously with estimating the user position with simultaneous localization and mapping (SLAM). Since Channel-SLAM is a relative localization system, the coordinate systems of transmitter maps from different users are subject to an unknown relative rotation and translation. In this paper, we present a new algorithm to estimate this rotation and translation, which we call map matching. Map matching is a requirement for collaborative Channel-SLAM, where users share transmitter maps to improve their positioning performance. Our idea is to augment maps of transmitter locations in Channel-SLAM with knowledge on from which locations there is a LoS condition to a transmitter in order to increase the robustness of map matching. We evaluate our algorithm by simulations in an indoor scenario.
Subjects
Channel-SLAM
cooperative positioning
map matching
simultaneous localization and mapping