SLAM for pseudolite system comprising unsynchronised transmitters

Conference contribution


Publication Details

Author(s): Patino-Studencki L, Thielecke J, Rohmer G
Title edited volumes: 2014 Workshop on Sensor Data Fusion: Trends, Solutions, Applications, SDF 2014
Publisher: Institute of Electrical and Electronics Engineers Inc.
Publication year: 2014
Conference Proceedings Title: Sensor Data Fusion: Trends, Solutions, Applications (SDF)
Pages range: 1-6


Abstract


In this paper the application of Simultaneous Localization and Mapping (SLAM) algorithms to a proprietary pseudolite system is presented. Time of Arrival measurements of multiple unsynchronised radio transmitters at reference rover positions are combined using an extended Kalman filter, in order to simultaneously localize both transmitters and movable receiver. In the case of unsynchronised transmitters, the SLAM approach must be adapted because the measurements from rover and transmitters are not simultaneously available, so that time constraints of the sensors must be taken into account and the measurements must be processed sequentially. Considerations relating to observability of the state variables are addressed. The efficiency of the algorithm is demonstrated using simulation data.



FAU Authors / FAU Editors

Patino-Studencki, Lucila
Lehrstuhl für Informationstechnik mit dem Schwerpunkt Kommunikationselektronik (Stiftungslehrstuhl)
Thielecke, Jörn Prof. Dr.
Professur für Informationstechnik (Schwerpunkt Ortsbestimmung und Navigation)


How to cite

APA:
Patino-Studencki, L., Thielecke, J., & Rohmer, G. (2014). SLAM for pseudolite system comprising unsynchronised transmitters. In Sensor Data Fusion: Trends, Solutions, Applications (SDF) (pp. 1-6). Bonn, Germany, DE: Institute of Electrical and Electronics Engineers Inc..

MLA:
Patino-Studencki, Lucila, Jörn Thielecke, and Günter Rohmer. "SLAM for pseudolite system comprising unsynchronised transmitters." Proceedings of the Sensor Data Fusion: Trends, Solutions, Applications (SDF), Bonn, Germany Institute of Electrical and Electronics Engineers Inc., 2014. 1-6.

BibTeX: 

Last updated on 2018-19-04 at 02:53