Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information

Junshi Chen; Russ Whiton; Fredrik Tufvesson

doi:10.1109/VTC2023-Spring57618.2023.10199170

Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information

Junshi Chen, Russ Whiton, Fredrik Tufvesson

Volvo Personvagnar AB (Volvo Car Corporation)

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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Abstract

Opportunistic navigation using cellular signals is appealing for scenarios where other navigation technologies face challenges. In this paper, long-term evolution (LTE) downlink signals from two neighboring commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) delays and angle-of-arrival (AOA) extracted from the received signals are used to jointly estimate the positions of the vehicle, transmitters, and virtual transmitters (VT) with an extended fast simultaneous localization and mapping (FastSLAM) algorithm. The results show that the algorithm can accurately estimate the positions of the vehicle and the transmitters (and virtual transmitters). The vehicle’s horizontal position error of SLAM fused with proprioception is less than 6 meters after a traversed distance of 530 meters, whereas un-aided proprioception results in a horizontal error of 15 meters.

Original language	English
Title of host publication	2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring)
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	979-8-3503-1114-3
ISBN (Print)	979-8-3503-1115-0
DOIs	https://doi.org/10.1109/VTC2023-Spring57618.2023.10199170
Publication status	Published - 2023 Aug 14
Event	IEEE 97th Vehicular Technology Conference, VTC 2023 Spring - Florence , Italy Duration: 2023 Jun 20 → 2023 Jun 23

Conference

Conference	IEEE 97th Vehicular Technology Conference, VTC 2023 Spring
Country/Territory	Italy
City	Florence
Period	2023/06/20 → 2023/06/23

Subject classification (UKÄ)

Signal Processing

Access to Document

10.1109/VTC2023-Spring57618.2023.10199170

Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information

Cite this

@inproceedings{08d92cc7ed764388886219b20a447e51,

title = "Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information",

abstract = "Opportunistic navigation using cellular signals is appealing for scenarios where other navigation technologies face challenges. In this paper, long-term evolution (LTE) downlink signals from two neighboring commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) delays and angle-of-arrival (AOA) extracted from the received signals are used to jointly estimate the positions of the vehicle, transmitters, and virtual transmitters (VT) with an extended fast simultaneous localization and mapping (FastSLAM) algorithm. The results show that the algorithm can accurately estimate the positions of the vehicle and the transmitters (and virtual transmitters). The vehicle{\textquoteright}s horizontal position error of SLAM fused with proprioception is less than 6 meters after a traversed distance of 530 meters, whereas un-aided proprioception results in a horizontal error of 15 meters.",

author = "Junshi Chen and Russ Whiton and Fredrik Tufvesson",

year = "2023",

month = aug,

day = "14",

doi = "10.1109/VTC2023-Spring57618.2023.10199170",

language = "English",

isbn = "979-8-3503-1115-0",

booktitle = "2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring)",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "IEEE 97th Vehicular Technology Conference, VTC 2023 Spring ; Conference date: 20-06-2023 Through 23-06-2023",

}

Chen, J, Whiton, R & Tufvesson, F 2023, Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information. in 2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring). IEEE - Institute of Electrical and Electronics Engineers Inc., IEEE 97th Vehicular Technology Conference, VTC 2023 Spring, Florence , Italy, 2023/06/20. https://doi.org/10.1109/VTC2023-Spring57618.2023.10199170

Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information. / Chen, Junshi; Whiton, Russ; Tufvesson, Fredrik.
2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring). IEEE - Institute of Electrical and Electronics Engineers Inc., 2023.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information

AU - Chen, Junshi

AU - Whiton, Russ

AU - Tufvesson, Fredrik

PY - 2023/8/14

Y1 - 2023/8/14

N2 - Opportunistic navigation using cellular signals is appealing for scenarios where other navigation technologies face challenges. In this paper, long-term evolution (LTE) downlink signals from two neighboring commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) delays and angle-of-arrival (AOA) extracted from the received signals are used to jointly estimate the positions of the vehicle, transmitters, and virtual transmitters (VT) with an extended fast simultaneous localization and mapping (FastSLAM) algorithm. The results show that the algorithm can accurately estimate the positions of the vehicle and the transmitters (and virtual transmitters). The vehicle’s horizontal position error of SLAM fused with proprioception is less than 6 meters after a traversed distance of 530 meters, whereas un-aided proprioception results in a horizontal error of 15 meters.

AB - Opportunistic navigation using cellular signals is appealing for scenarios where other navigation technologies face challenges. In this paper, long-term evolution (LTE) downlink signals from two neighboring commercial base stations (BS) are received by a massive antenna array mounted on a passenger vehicle. Multipath component (MPC) delays and angle-of-arrival (AOA) extracted from the received signals are used to jointly estimate the positions of the vehicle, transmitters, and virtual transmitters (VT) with an extended fast simultaneous localization and mapping (FastSLAM) algorithm. The results show that the algorithm can accurately estimate the positions of the vehicle and the transmitters (and virtual transmitters). The vehicle’s horizontal position error of SLAM fused with proprioception is less than 6 meters after a traversed distance of 530 meters, whereas un-aided proprioception results in a horizontal error of 15 meters.

U2 - 10.1109/VTC2023-Spring57618.2023.10199170

DO - 10.1109/VTC2023-Spring57618.2023.10199170

M3 - Paper in conference proceeding

SN - 979-8-3503-1115-0

BT - 2023 IEEE 97th Vehicular Technology Conference (VTC2023-Spring)

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE 97th Vehicular Technology Conference, VTC 2023 Spring

Y2 - 20 June 2023 through 23 June 2023

ER -

Extended FastSLAM Using Cellular Multipath Component Delays and Angular Information

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Cite this