Matching Maps of Physical and Virtual Radio Transmitters Using Visibility Regions

Markus Ulmschneider, Christian Gentner and Armin Dammann

Abstract: 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 ChannelSLAM 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.
Published in: 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
April 20 - 23, 2020
Hilton Portland Downtown
Portland, Oregon
Pages: 375 - 382
Cite this article: Ulmschneider, Markus, Gentner, Christian, Dammann, Armin, "Matching Maps of Physical and Virtual Radio Transmitters Using Visibility Regions," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 375-382.
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