Experimental Study on Probabilistic ToA and AoA Joint Localization in Real Indoor Environments

被引:12
|
作者
Geng, Chunhua [1 ]
Abrudan, Traian E. [2 ]
Kolmonen, Veli-Matti [2 ]
Huang, Howard [3 ]
机构
[1] MediaTek USA Inc, Irvine, CA 92606 USA
[2] Nokia Bell Labs, Espoo, Finland
[3] Nokia Bell Labs, Murray Hill, NJ USA
关键词
Indoor positioning; probabilistic localization; time-of-arrival (ToA); angle-of-arrival (AoA); multipath propagation; prototype; field tests; DISTANCE;
D O I
10.1109/ICC42927.2021.9500283
中图分类号
TN [电子技术、通信技术];
学科分类号
0809 ;
摘要
In this paper, we study probabilistic time-of-arrival (ToA) and angle-of-arrival (AoA) joint localization in real indoor environments. To mitigate the effects of multipath propagation, the joint localization algorithm incorporates into the likelihood function Gaussian mixture models (GMM) and the Von Mises-Fisher distribution to model time bias errors and angular uncertainty, respectively. We evaluate the algorithm performance using a proprietary prototype deployed in an indoor factory environment with infrastructure receivers in each of the four corners at the ceiling of a 10 meter by 20 meter section. The field test results show that our joint probabilistic localization algorithm significantly outperforms baselines using only ToA or AoA measurements and achieves 2-D sub-meter accuracy at the 90%-ile. We also numerically demonstrate that the joint localization algorithm is more robust to synchronization errors than the baseline using ToA measurements only.
引用
收藏
页数:6
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