Skip to main content

Lund University Publications

LUND UNIVERSITY LIBRARIES

Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information

Chen, Junshi LU ; Whiton, Russ LU and Tufvesson, Fredrik LU orcid (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:
author
; and
organization
publishing date
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
979-8-3503-1115-0
979-8-3503-1114-3
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
2024-04-19 00:44:32
@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         = {{979-8-3503-1115-0}},
  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}},
}