Multipath-based SLAM with Cooperation and Map Fusion in MIMO Systems
- Published
- Sun, Sep 01, 2024
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- rotm
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Multipath-based simultaneous localization and mapping (MP-SLAM) is a promising approach in wireless networks for obtaining position information of transmitters and receivers as well as information on the propagation environment. MP-SLAM models specular reflections of radio frequency (RF) signals at flat surfaces as virtual anchors (VAs), the mirror images of base stations (BSs). Conventional methods for MP-SLAM consider a single mobile terminal (MT) which has to be localized. The availability of additional MTs paves the way for utilizing additional information in the scenario. Specifically enabling MTs to exchange information allows for data fusion over different observations of VAs, made by different MTs, and cooperative localization. Furthermore, an inertial measurement unit (IMU) was integrated as an additional sensor for each MT unlocking additional information for orientation and state transition estimation allowing to cope with complex trajectories. Utilizing this additional information enables more robust mapping and higher localization accuracy.
The paper was accepted for the Asilomar Conference 2024. If you are interested have a look here.
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