Simultaneous Localization and Mapping of Emitting Radio Sources – SLAMERS

Chun Yang and Andrey Soloviev

Peer Reviewed

Abstract:	In GPS-challenged environments, broadcast and wireless communications signals can be used as signals of opportunity (SOOP) for positioning and navigation. Repeating recognizable patterns of SOOP can be tracked with their time of arrival (TOA) measured accurately at a receiver. However, most SOOP are neither synchronous nor cooperative. A difficulty thus arising for SOOP-based multilateration is the lack of knowledge about the location of transmitter (LOT) and/or time of transmit (TOT) of SOOP particularly in an unfamiliar territory. To solve this problem, we formulate it as a problem of simultaneous localization of a receiver and mapping of emitting radio sources (SLAMERS) when the receiver makes known displacements around the radio sources. In addition, the SLAMERS formulation can incorporate such radio sources as one or two GPS satellites, thus enabling GPS/SOOP fusion for global and absolute location transfer. In this paper, experimental and simulation examples are presented to illustrate SLAMERS with processing results and analysis.
Published in:	Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015) September 14 - 18, 2015 Tampa Convention Center Tampa, Florida
Pages:	2343 - 2354
Cite this article:	Yang, Chun, Soloviev, Andrey, "Simultaneous Localization and Mapping of Emitting Radio Sources – SLAMERS," Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 2343-2354.
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