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SLAM Using Cellular Multipath Component Delays and Angular Information with JPDA Approximation

Chen, Junshi LU ; Whiton, Russ LU and Tufvesson, Fredrik LU orcid (2023) 2023 8th International Conference on Signal and Image Processing p.973-978
Abstract
Advanced cellular communication systems provide increased potential for opportunistic high-accuracy positioning. In this paper, long-term evolution (LTE) downlink signals from two commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) parameters, like delays and angle-of-arrival (AOA) are extracted from the received signals on a snapshot-by-snapshot basis, and then associated across snapshots with a low complexity joint probability data association approximation algorithm. The associated parameters are used to jointly estimate the positions of the vehicle, the transmitters, and the virtual transmitters (VT) with a simultaneous localization and mapping (SLAM)... (More)
Advanced cellular communication systems provide increased potential for opportunistic high-accuracy positioning. In this paper, long-term evolution (LTE) downlink signals from two commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) parameters, like delays and angle-of-arrival (AOA) are extracted from the received signals on a snapshot-by-snapshot basis, and then associated across snapshots with a low complexity joint probability data association approximation algorithm. The associated parameters are used to jointly estimate the positions of the vehicle, the transmitters, and the virtual transmitters (VT) with a simultaneous localization and mapping (SLAM) algorithm. Both reflector and scatterer models are adopted, and clock and angular offsets are taken into account in the algorithm. The measurement results show the effectiveness of the data association algorithm and the accuracy of the SLAM algorithm. The vehicle’s horizontal position error of SLAM fused with proprioception is less than 5.5 meters after a traversed distance of 530 meters, compared to that of the un-aided proprioception which is 15 meters.
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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 8th International Conference on Signal and Image Processing (ICSIP)
pages
6 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2023 8th International Conference on Signal and Image Processing
conference dates
2023-07-08 - 2023-07-10
external identifiers
  • scopus:85174692158
ISBN
979-8-3503-9794-9
979-8-3503-9793-2
979-8-3503-9792-5
DOI
10.1109/ICSIP57908.2023.10271016
project
MIMO-Sensor for Positioning and Autonomous Drive
language
English
LU publication?
yes
id
d43d9421-6c51-4f40-9d9e-3240bc3de91f
date added to LUP
2023-10-10 09:39:19
date last changed
2024-04-19 02:11:32
@inproceedings{d43d9421-6c51-4f40-9d9e-3240bc3de91f,
  abstract     = {{Advanced cellular communication systems provide increased potential for opportunistic high-accuracy positioning. In this paper, long-term evolution (LTE) downlink signals from two commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) parameters, like delays and angle-of-arrival (AOA) are extracted from the received signals on a snapshot-by-snapshot basis, and then associated across snapshots with a low complexity joint probability data association approximation algorithm. The associated parameters are used to jointly estimate the positions of the vehicle, the transmitters, and the virtual transmitters (VT) with a simultaneous localization and mapping (SLAM) algorithm. Both reflector and scatterer models are adopted, and clock and angular offsets are taken into account in the algorithm. The measurement results show the effectiveness of the data association algorithm and the accuracy of the SLAM algorithm. The vehicle’s horizontal position error of SLAM fused with proprioception is less than 5.5 meters after a traversed distance of 530 meters, compared to that of the un-aided proprioception which is 15 meters.<br/>}},
  author       = {{Chen, Junshi and Whiton, Russ and Tufvesson, Fredrik}},
  booktitle    = {{2023 8th International Conference on Signal and Image Processing (ICSIP)}},
  isbn         = {{979-8-3503-9794-9}},
  language     = {{eng}},
  month        = {{10}},
  pages        = {{973--978}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{SLAM Using Cellular Multipath Component Delays and Angular Information with JPDA Approximation}},
  url          = {{https://lup.lub.lu.se/search/files/161189959/SLAM_Using_Cellular_Multipath_Component_Delays_and_Angular_Information_with_JPDA_Approximation.pdf}},
  doi          = {{10.1109/ICSIP57908.2023.10271016}},
  year         = {{2023}},
}