SLAM for pseudolite system comprising unsynchronised transmitters

Patino-Studencki L, Thielecke J, Rohmer G (2014)

Publication Type: Conference contribution

Publication year: 2014

Publisher: Institute of Electrical and Electronics Engineers Inc.

Edited Volumes: 2014 Workshop on Sensor Data Fusion: Trends, Solutions, Applications, SDF 2014

Pages Range: 1-6

Conference Proceedings Title: Sensor Data Fusion: Trends, Solutions, Applications (SDF)

Event location: Bonn, Germany

DOI: 10.1109/SDF.2014.6954721

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.

Authors with CRIS profile

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

Involved external institutions

Fraunhofer-Institut für Integrierte Schaltungen (IIS)

Germany (DE)

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.

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