Particle Filter Based Synthetic Aperture Reconstruction Approach for Real-Time 3D Wireless Local Positioning

Li G, Ebelt R, Vossiek M (2012)

Publication Language: English

Publication Type: Conference contribution

Publication year: 2012

Edited Volumes: 2012 the 7th German Microwave Conference, GeMiC 2012

Conference Proceedings Title: 7th German Microwave Conference (GeMiC2012)

Event location: Ilmenau, Germany DE

Abstract

In this paper we introduce a precise real-time 3D indoor localization concept using a combination of the MISAS (multilateral inverse synthetic aperture secondary radar) approach and particle filtering. The synthetic aperture approach is a promising locating technique with effective multipath suppression. However, the practical usage in real-time applications is limited by its huge computational load of conventional SAR reconstruction algorithms. Instead of evaluating the PDF (probability density function) of the target position in a grid-based approach, we utilize a set of weighted particles to represent the PDF. The particle number can then subsequently be reduced in the following iterations through a resampling algorithm. It is shown by simulation and experiments with a 5.8 GHz FMCW secondary radar with 140 MHz bandwidth, that 3D localization of a robot TCP (tool center point) in mm-range with a few hundred particles is possible even in a dense multipath environment. With our new approach the computational effort has been reduced to below 0.1% compared to a grid-based evaluation. Therefore, this novel extension of particle filtering gives an attractive solution for the real-time application of 3D MISAS localization. © 2012 Institut f r Mikrowellen.

Authors with CRIS profile

Gang Li Lehrstuhl für Hochfrequenztechnik Randolf Ebelt Lehrstuhl für Hochfrequenztechnik Martin Vossiek Lehrstuhl für Hochfrequenztechnik

How to cite

APA:

Li, G., Ebelt, R., & Vossiek, M. (2012). Particle Filter Based Synthetic Aperture Reconstruction Approach for Real-Time 3D Wireless Local Positioning. In 7th German Microwave Conference (GeMiC2012). Ilmenau, Germany, DE.

MLA:

Li, Gang, Randolf Ebelt, and Martin Vossiek. "Particle Filter Based Synthetic Aperture Reconstruction Approach for Real-Time 3D Wireless Local Positioning." Proceedings of the 2012 the 7th German Microwave Conference, GeMiC 2012, Ilmenau, Germany 2012.

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