Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning

Figure 1

Signals from the physical transmitter Tx are received at the two user positions via different propagation paths. Each MPC arriving at the receiver is regarded as being transmitted by a virtual transmitter in a pure LoS condition. The propagation paths correspond to a reflection at the wall (vTx1), a scattering at a point scatterer (vTx2), and a scattering followed by a reflection at the wall (vTx3).