Indoor Mapping with a Mobile Radar Using an EK-PHD Filter

Jukka Talvitie, Ossi Kaltiokallio, Elizaveta Rastorgueva-Foi, Carlos Baquero Barneto, Musa Furkan Keskin, Henk Wymeersch, Mikko Valkama

Tutkimustuotos: KonferenssiartikkeliScientificvertaisarvioitu

17 Lataukset (Pure)

Abstrakti

Integrated communications, localization and sensing is one of the most addressed technologies considered for future mobile communications systems. In this context, a user equipment (UE)-centric mobile radar has been proposed to introduce improved situational awareness, and consequently potential improvement in network performance. In this paper, we derive an extended Kalman probability hypothesis density (EK-PHD) filter with a novel feature model, for a mobile radar based environment mapping, where range-angle detections are used to track map objects over time for dynamic map construction. In order to evaluate the performance of the proposed filtering approach, we employ a realistic ray-tracing-based simulation setup, which models the full transmission chain from the transmitted IQ-samples to mapping results. Besides this, a simplified measurement model considering solely single-bounce specular reflections is exploited for providing further insight into the filter performance. The obtained results show that the proposed EK-PHD filter is able to provide high-quality mapping results, reaching around 10 cm landmark estimation accuracy in the considered millimeter wave simulation setup.

AlkuperäiskieliEnglanti
Otsikko2021 IEEE 32nd Annual International Symposium on Personal, Indoor and Mobile Radio Communications, PIMRC 2021
KustantajaIEEE
Sivumäärä6
ISBN (elektroninen)9781728175867
DOI - pysyväislinkit
TilaJulkaistu - 13 syysk. 2021
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE Annual International Symposium on Personal, Indoor and Mobile Radio Communications - Helsinki, Suomi
Kesto: 13 syysk. 202116 syysk. 2021

Julkaisusarja

NimiIEEE International Symposium on Personal, Indoor and Mobile Radio Communications, PIMRC
Vuosikerta2021-September
ISSN (elektroninen)2166-9589

Conference

ConferenceIEEE Annual International Symposium on Personal, Indoor and Mobile Radio Communications
Maa/AlueSuomi
KaupunkiHelsinki
Ajanjakso13/09/2116/09/21

Julkaisufoorumi-taso

  • Jufo-taso 1

!!ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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