{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T17:18:51Z","timestamp":1740158331673,"version":"3.37.3"},"reference-count":25,"publisher":"Wiley","license":[{"start":{"date-parts":[[2018,1,1]],"date-time":"2018-01-01T00:00:00Z","timestamp":1514764800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000780","name":"European Union","doi-asserted-by":"crossref","award":["MG-3.5a-2014-636537"],"award-info":[{"award-number":["MG-3.5a-2014-636537"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100002946","name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt","doi-asserted-by":"publisher","award":["MG-3.5a-2014-636537"],"award-info":[{"award-number":["MG-3.5a-2014-636537"]}],"id":[{"id":"10.13039\/501100002946","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Electrical and Computer Engineering"],"published-print":{"date-parts":[[2018]]},"abstract":"<jats:p>In multipath assisted positioning, multipath components arriving at a receiver are regarded as being transmitted by a virtual transmitter in a line-of-sight condition. As the locations and clock offsets of the virtual and physical transmitters are in general unknown, simultaneous localization and mapping (SLAM) schemes can be applied to simultaneously localize a user and estimate the states of physical and virtual transmitters as landmarks. Hence, multipath assisted positioning enables localizing a user with only one physical transmitter depending on the scenario. In this paper, we present and derive a novel filtering approach for our multipath assisted positioning algorithm called Channel-SLAM. Making use of Rao-Blackwellization, the location of a user is tracked by a particle filter, and each landmark is represented by a sum of Gaussian probability density functions, whose parameters are estimated by unscented Kalman filters. Since data association, that is, finding correspondences among landmarks, is essential for robust long-term SLAM, we also derive a data association scheme. We evaluate our filtering approach for multipath assisted positioning by simulations in an urban scenario and by outdoor measurements.<\/jats:p>","DOI":"10.1155\/2018\/4761601","type":"journal-article","created":{"date-parts":[[2018,4,23]],"date-time":"2018-04-23T23:32:26Z","timestamp":1524526346000},"page":"1-15","source":"Crossref","is-referenced-by-count":5,"title":["Rao-Blackwellized Gaussian Sum Particle Filtering for Multipath Assisted Positioning"],"prefix":"10.1155","volume":"2018","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7241-7057","authenticated-orcid":true,"given":"Markus","family":"Ulmschneider","sequence":"first","affiliation":[{"name":"German Aerospace Center (DLR), Institute of Communications and Navigation, Muenchner Str. 20, 82334 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4298-8195","authenticated-orcid":true,"given":"Christian","family":"Gentner","sequence":"additional","affiliation":[{"name":"German Aerospace Center (DLR), Institute of Communications and Navigation, Muenchner Str. 20, 82334 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1413-5427","authenticated-orcid":true,"given":"Thomas","family":"Jost","sequence":"additional","affiliation":[{"name":"German Aerospace Center (DLR), Institute of Communications and Navigation, Muenchner Str. 20, 82334 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7112-1833","authenticated-orcid":true,"given":"Armin","family":"Dammann","sequence":"additional","affiliation":[{"name":"German Aerospace Center (DLR), Institute of Communications and Navigation, Muenchner Str. 20, 82334 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/CC.2015.7084382"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2007.06.005"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1186\/1687-6180-2013-53"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2012.6237575"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2015.2504328"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2015.120807"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1638022"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.1678144"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2003.823141"},{"key":"47","doi-asserted-by":"publisher","DOI":"10.1109\/78.978374"},{"year":"2005","key":"27"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1109\/taes.2013.6494405"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.924946"},{"issue":"3","key":"32","first-page":"380","volume":"4","year":"2004","journal-title":"Journal of Machine Learning Research"},{"year":"2002","key":"33"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.1017\/cbo9781139344203"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1109\/TAP.2012.2207315"},{"key":"36","doi-asserted-by":"publisher","DOI":"10.1109\/49.753729"},{"key":"38","doi-asserted-by":"publisher","DOI":"10.1109\/TSP.2008.2011823"},{"issue":"1","key":"42","first-page":"31","volume":"11","year":"2016","journal-title":"Journal of Advances in Information Fusion"},{"key":"43","doi-asserted-by":"publisher","DOI":"10.1002\/0470045345"},{"key":"44","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2019800"},{"key":"46","doi-asserted-by":"publisher","DOI":"10.1049\/ip-f-2.1993.0015"},{"year":"2012","key":"48"}],"container-title":["Journal of Electrical and Computer Engineering"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jece\/2018\/4761601.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jece\/2018\/4761601.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jece\/2018\/4761601.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,5,19]],"date-time":"2020-05-19T09:57:54Z","timestamp":1589882274000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/jece\/2018\/4761601\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018]]},"references-count":25,"alternative-id":["4761601","4761601"],"URL":"https:\/\/doi.org\/10.1155\/2018\/4761601","relation":{},"ISSN":["2090-0147","2090-0155"],"issn-type":[{"type":"print","value":"2090-0147"},{"type":"electronic","value":"2090-0155"}],"subject":[],"published":{"date-parts":[[2018]]}}}