Joint anchor-less tracking and room dimensions estimation through IR-UWB peer-to-peer communications

Abstract

International audienceIn this paper we jointly address the problems of node location tracking and indoor mapping in the absence of infrastructure, relying on peer-to-peer IEEE 802.15.4a Impulse Radio - Ultra Wideband (IR-UWB) links. Coarse Time of Arrival (ToA) measurements, which are obtained within a low complexity Energy Detection (ED) receiver, are mapped into the direct path and single-bounce reflected multipath components. Then these measurements feed a multi-hypothesis tracking filter to retrieve the peers' normalized coordinates and the room dimensions. Preliminary results are provided in a canonical mobile scenario, where dense multipath channels are generated through realistic UWB Ray-Tracing simulations. On this occasion, remaining structural transmitter/receiver and mirror ambiguities are pointed out and illustrated

Multipath Assisted Positioning with Simultaneous Localization and Mapping

“…This approach was extended in [27], where the UWB radar transceiver position is estimated in addition by using a simultaneous localization and mapping (SLAM) approach [28]- [30]. Similarly, [31] describes a SLAM approach to estimate the room-geometry as well as the receiver position based on UWB by using single time reflected MPCs.…”

“…Instead of mapping the environment, Channel-SLAM maps the VT positions and interprets them as landmarks. Furthermore, compared to [19]- [24], [26], [27], [31], Channel-SLAM considers also paths occurring due to multiple number of reflections or scattering as well as the combination of both effects. We demonstrate that each MPC can be treated as being emitted from a VT with unknown but fixed position.…”

Analysis of position-related information in measured UWB indoor channels

“…Hence, as a first step in the data extraction process, we re-estimate the locations of the VAs according to the model in (6). In a small region around the geometrically expected VA position p k , we search for the VA position that provides a best fit to the received signal.…”

“…The results are used to verify the theoretical work in [2]. Also, they provide important performance considerations for localization schemes making use of multipath propagation, like [6] or [7], for example. Fig.…”