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arXiv 2103.13188cs.ITmath.IT
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基于消息传递的自适应PDA定位跟踪算法

A Message Passing based Adaptive PDA Algorithm for Robust Radio-based Localization and Tracking

Alexander Venus, Erik Leitinger, Stefan Tertinek, Klaus Witrisal

摘要:

我们提出了一个消息传递算法的定位和跟踪在多路径倾向的环境中,隐含地考虑视线受阻的情况。建议的自适应概率数据关联算法推断的位置,移动代理使用多个锚通过利用延迟和幅度的多径分量(MPC),以及它们各自的不确定性。通过采用一个非均匀的杂波模型,我们使算法,以促进MPC中包含的位置信息,以支持估计的代理位置,而无需确切的知识的环境几何形状。我们的算法以在线方式适应于每个锚点的时变信噪比和视线(LOS)存在概率。在一个数值分析,我们表明,该算法是能够可靠地运行在强多径传播的环境中,即使所有锚点的临时障碍同时发生。

英文摘要:

We present a message passing algorithm for localization and tracking in multipath-prone environments that implicitly considers obstructed line-of-sight situations. The proposed adaptive probabilistic data association algorithm infers the position of a mobile agent using multiple anchors by utilizing delay and amplitude of the multipath components (MPCs) as well as their respective uncertainties. By employing a nonuniform clutter model, we enable the algorithm to facilitate the position information contained in the MPCs to support the estimation of the agent position without exact knowledge about the environment geometry. Our algorithm adapts in an online manner to both, the time-varying signal-to-noise-ratio and line-of-sight (LOS) existence probability of each anchor. In a numerical analysis we show that the algorithm is able to operate reliably in environments characterized by strong multipath propagation, even if a temporary obstruction of all anchors occurs simultaneously.

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