Research Article

Positioning Using Terrestrial Multipath Signals and Inertial Sensors

Figure 1

The figure shows four propagation scenarios: First scenario (blue): the transmitted signal is reflected on a reflecting surface. is defined by mirroring the physical transmitter position at the surface. Second scenario (red): the transmitted signal is reflected twice. is defined by mirroring the physical transmitter position at both surfaces. Third scenario (orange): the transmitted signal is scattered at . is defined at the position of . Fourth scenario (green): the transmitted signal is scattered and afterwards reflected on a reflecting surface. is defined by mirroring the scatterer at the surface.