Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information
(2023) IEEE 97th Vehicular Technology Conference, VTC 2023 Spring- Abstract
- Opportunistic navigation using cellular signals is appealing for scenarios where other navigation technologies face challenges. In this paper, long-term evolution (LTE) downlink signals from two neighboring commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) delays and angle-of-arrival (AOA) extracted from the received signals are used to jointly estimate the positions of the vehicle, transmitters, and virtual transmitters (VT) with an extended fast simultaneous localization and mapping (FastSLAM) algorithm. The results show that the algorithm can accurately estimate the positions of the vehicle and the transmitters (and virtual transmitters). The vehicle’s... (More)
- Opportunistic navigation using cellular signals is appealing for scenarios where other navigation technologies face challenges. In this paper, long-term evolution (LTE) downlink signals from two neighboring commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) delays and angle-of-arrival (AOA) extracted from the received signals are used to jointly estimate the positions of the vehicle, transmitters, and virtual transmitters (VT) with an extended fast simultaneous localization and mapping (FastSLAM) algorithm. The results show that the algorithm can accurately estimate the positions of the vehicle and the transmitters (and virtual transmitters). The vehicle’s horizontal position error of SLAM fused with proprioception is less than 6 meters after a traversed distance of 530 meters, whereas un-aided proprioception results in a horizontal error of 15 meters. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/08d92cc7-ed76-4388-8862-19b20a447e51
- author
- Chen, Junshi LU ; Whiton, Russ LU and Tufvesson, Fredrik LU
- organization
- publishing date
- 2023-08-14
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring)
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- IEEE 97th Vehicular Technology Conference, VTC 2023 Spring
- conference location
- Florence, Italy
- conference dates
- 2023-06-20 - 2023-06-23
- external identifiers
-
- scopus:85169820319
- ISBN
- 979-8-3503-1114-3
- 979-8-3503-1115-0
- DOI
- 10.1109/VTC2023-Spring57618.2023.10199170
- language
- English
- LU publication?
- yes
- id
- 08d92cc7-ed76-4388-8862-19b20a447e51
- date added to LUP
- 2023-08-17 08:50:17
- date last changed
- 2024-07-12 08:21:34
@inproceedings{08d92cc7-ed76-4388-8862-19b20a447e51, abstract = {{Opportunistic navigation using cellular signals is appealing for scenarios where other navigation technologies face challenges. In this paper, long-term evolution (LTE) downlink signals from two neighboring commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) delays and angle-of-arrival (AOA) extracted from the received signals are used to jointly estimate the positions of the vehicle, transmitters, and virtual transmitters (VT) with an extended fast simultaneous localization and mapping (FastSLAM) algorithm. The results show that the algorithm can accurately estimate the positions of the vehicle and the transmitters (and virtual transmitters). The vehicle’s horizontal position error of SLAM fused with proprioception is less than 6 meters after a traversed distance of 530 meters, whereas un-aided proprioception results in a horizontal error of 15 meters.}}, author = {{Chen, Junshi and Whiton, Russ and Tufvesson, Fredrik}}, booktitle = {{2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring)}}, isbn = {{979-8-3503-1114-3}}, language = {{eng}}, month = {{08}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information}}, url = {{https://lup.lub.lu.se/search/files/155084091/Extended_FastSLAM_Using_Cellular_Multipath_Component_Delays_and_Angular_Information.pdf}}, doi = {{10.1109/VTC2023-Spring57618.2023.10199170}}, year = {{2023}}, }