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.
Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information
2023-08-14
Article/Chapter (Book)
Electronic Resource
English
DDC: | 629 |
SLAM Using Cellular Multipath Component Delays and Angular Information with JPDA Approximation
BASE | 2023
|SLAM using LTE Multipath Component Delays
IEEE | 2020
|Convergence and Consistency Analysis for FastSLAM
British Library Conference Proceedings | 2009
|FastSLAM Algorithm for Uninhabited Flying Vehicle
Trans Tech Publications | 2013
|