This paper presents a robust phase-based positioning framework using a massive MIMO system. The phase-based distance estimates of MPCs together with other parameters are tracked with an EKF, the state dimension of which varies with the birth-death processes of paths. The RIMAX and the modeling of dense multipath component in the framework further enhance the quality of parameter tracking by providing an accurate initial state and the underlying noise covariance. The tracked MPCs are fed into a time-of-arrival self-calibration positioning algorithm for simultaneous trajectory and environment estimation. Throughout the positioning process, no prior knowledge of the surrounding environment and base station position is needed. The performance is evaluated with the measurement of a 2D complex movement, which was performed in a sports hall with an antenna array with 128 ports as base station using a standard cellular bandwidth of 40 MHz. The positioning result shows that the mean deviation of the estimated user equipment trajectory from the ground truth is 13 cm. In summary, the proposed framework is a promising high-resolution radio-based positioning solution for current and next generation cellular systems.
The problem of estimating receiver-sender node positions from measured receiver-sender distances is a key issue in different applications such as microphone array calibration, radio antenna array calibration, mapping and positioning using ultrawideband and mapping and positioning using round-trip-time measurements between mobile phones and Wi-Fi-units. Thanks to recent research in this area we have an increased understanding of the geometry of this problem. In this paper, we study the problem of missing information and the presence of outliers in the data. We propose a novel hypothesis and test framework that efficiently finds initial estimates of the unknown parameters and combine such methods with optimization techniques to obtain accurate and robust systems. The proposed systems are evaluated against current state-of-the-art methods on a large set of benchmark tests. This is evaluated further on Wi-Fi roundtrip time and ultra-wideband measurements to give a realistic example of self calibration for indoor localization.
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