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Abstract
We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together with a time-varying number of multipath components (MPCs). The MPCs are represented by “delay biases” corresponding to the offset between line-of-sight (LOS) component delay and the respective delays of all detectable MPCs. The delay biases of the MPCs capture the geometric features of the propagation environment with respect to the mobile agent. Therefore, they can provide position-related information contained in the MPCs without explicitly building a map of the environment. We demonstrate that the position-related information enables the algorithm to correctly infer the agent position even in fully obstructed LOS situations. In a challenging scenario we demonstrate the presented algorithm to significantly outperform state-of-the-art multipath-aided tracking algorithms and show that the performance of our algorithm attains the posterior Cramér-Rao lower bound (PCRLB).
Original language | English |
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Title of host publication | 2022 56th Asilomar Conference on Signals, Systems, and Computers |
Editors | Michael B. Matthews |
Place of Publication | Pacific Grove, CA, USA |
Pages | 777-784 |
Number of pages | 8 |
ISBN (Electronic) | 978-1-6654-5906-8 |
DOIs | |
Publication status | Published - Mar 2023 |
Event | 56th Asilomar Conference on Signals, Systems, and Computers: Asilomar 2022 - Hybrider Event, United States Duration: 30 Oct 2022 → 2 Nov 2022 |
Conference
Conference | 56th Asilomar Conference on Signals, Systems, and Computers |
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Abbreviated title | Asilomar 2022 |
Country/Territory | United States |
City | Hybrider Event |
Period | 30/10/22 → 2/11/22 |
ASJC Scopus subject areas
- Signal Processing
- Computer Networks and Communications
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Dive into the research topics of 'Graph-based Simultaneous Localization and Bias Tracking for Robust Positioning in Obstructed LOS Situations'. Together they form a unique fingerprint.Projects
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CD-Laboratory for Location-aware Electronic Systems
Witrisal, K., Grebien, S. J., Fuchs, A., Wilding, T., Venus, A. & Wielandner, L.
1/01/18 → 31/12/24
Project: Research project