Positioning Using Terrestrial Multipath Signals and Inertial Sensors

<div>Enlarged measurement scenario of Figure <a href="../fig6/">6</a> with the ground truth of the track in blue. The figure shows two examples of the MMSE point estimates of the receiver position for Dynamic-Channel-SLAM-2 in red and VT-Knowledge-Algo-2 in green. The starting position and end position are indicated by the green and magenta circles. Additionally, it shows the estimated PDFs for the physical transmitter, <span class="nowrap"><svg height="11.9479pt" id="M457" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -8.7664 22.4792 11.9479" width="22.4792pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M687 650H462V622C543 612 549 605 530 547C498 447 422 252 372 126H370C302 298 229 492 204 563C188 607 191 615 262 622V650H17V622C77 616 93 608 122 534C180 389 262 172 329 -11H360C436 196 541 450 568 516C606 605 619 614 687 622V650Z" id="g121-84"></path></g><g transform="matrix(.013,0,0,-0.013,9.348,0)"><path d="M592 498C586 556 582 629 581 675H560C545 656 537 650 510 650H115C87 650 74 652 60 675H40C38 620 33 555 28 495H57C69 539 77 568 89 585C102 607 122 616 205 616H267V123C267 44 259 34 168 28V0H454V28C360 34 352 44 352 123V616H422C498 616 514 608 531 584C542 568 552 543 562 495L592 498Z" id="g121-82"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.369,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path></g></svg>,</span> <span class="nowrap"><svg height="11.9479pt" id="M458" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -8.7664 22.4792 11.9479" width="22.4792pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M687 650H462V622C543 612 549 605 530 547C498 447 422 252 372 126H370C302 298 229 492 204 563C188 607 191 615 262 622V650H17V622C77 616 93 608 122 534C180 389 262 172 329 -11H360C436 196 541 450 568 516C606 605 619 614 687 622V650Z" id="g121-84"></path></g><g transform="matrix(.013,0,0,-0.013,9.348,0)"><path d="M592 498C586 556 582 629 581 675H560C545 656 537 650 510 650H115C87 650 74 652 60 675H40C38 620 33 555 28 495H57C69 539 77 568 89 585C102 607 122 616 205 616H267V123C267 44 259 34 168 28V0H454V28C360 34 352 44 352 123V616H422C498 616 514 608 531 584C542 568 552 543 562 495L592 498Z" id="g121-82"></path></g><g transform="matrix(.0091,0,0,-0.0091,17.369,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path></g></svg>,</span> and pedestrian position.</div>

Mobile Information Systems

fig13

Figure 13

Figure 13: Positioning Using Terrestrial Multipath Signals and Inertial Sensors 