Positioning Using Terrestrial Multipath Signals and Inertial Sensors

Figure 6

Measurement scenario with a fixed transmitter and a moving receiver (pedestrian). The pedestrian moves on the blue track for 155 s, in total 111 m. The starting position and end position are indicated by the green and magenta circles. The metalized doors of the hangar and the chain-link fences act as reflecting surfaces for the transmitted wireless signal. Hence, we can calculate the corresponding VT positions by mirroring the physical transmitter position on the reflecting surfaces.