Millimeter-Wave Radar Localization Using Indoor Multipath Effect

Hao, Zhanjun; Yan, Hao; Dang, Xiaochao; Ma, Zhongyu; Jin, Peng; Ke, Wenze

doi:10.3390/s22155671

Cited by 11 publications

(6 citation statements)

References 37 publications

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“…Comparing the results mentioned in Section II with the findings in [17] and [15], it is evident that our approaches yielded a similar level of accuracy. In [17], the authors achieved positioning accuracy ranging from 16cm to 3.25m using the AoA technique in an open space while the authors of [15] demonstrated an accuracy of 15cm. Despite the fact that we were operating in a more cluttered environment, we achieved an accuracy of 16cm, which is comparable to the aforementioned works.…”

Section: Discussionsupporting

confidence: 55%

“…The results indicate that positioning accuracy using a single sensor reaches submeter levels in 95% of cases and is less than 0.4m in 60% of cases. The richness of multipath components in mmWave systems is also exploited in [15] which introduces a multipathassisted localization (MAL) model based on mmWave radar for indoor electronic device localization. This model effectively incorporates multipath effects when describing reflected signals, enabling precise target position determination using the MAL area formed by the reflected signal.…”

Section: Related Workmentioning

confidence: 99%

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Radar-Based Millimeter-Wave Sensing for Accurate 3-D Indoor Positioning: Potentials and Challenges

Sesyuk,

Ioannou,

Raspopoulos

2024

J. Ind. Sea. Pos. Nav.

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The 3D nature of modern smart applications has imposed significant 3D positioning accuracy requirements, especially in indoor environments. However, a major limitation of most existing indoor localization systems is their focus on estimating positions mainly in the horizontal plane, overlooking the crucial vertical dimension. This neglect presents considerable challenges in accurately determining the 3D position of devices such as drones and individuals across multiple floors of a building let alone the cmlevel accuracy that might be required in many of these applications. To tackle this issue, millimeter-wave (mmWave) positioning systems have emerged as a promising technology offering high accuracy and robustness even in complex indoor environments. This paper aims to leverage the potential of mmWave radar technology to achieve precise ranging and angling measurements presenting a comprehensive methodology for evaluating the performance of mmWave sensors in terms of measurement precision while demonstrating the 3D positioning accuracy that can be achieved. The main challenges and the respective solutions associated with the use of mmWave sensors for indoor positioning are highlighted, providing valuable insights into their potentials and suitability for practical applications.

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Section: Discussionsupporting

confidence: 55%

Section: Related Workmentioning

confidence: 99%

Radar-Based Millimeter-Wave Sensing for Accurate 3-D Indoor Positioning: Potentials and Challenges

Sesyuk,

Ioannou,

Raspopoulos

2024

J. Ind. Sea. Pos. Nav.

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“…The single-bounce scattering is directly reflected by the target. The multi-bounce scattering is reflected between the target, ground and wall more than once [25][26][27][28].…”

Section: Radar Slant Range Of Multiple Bounce Scattering Characteristicmentioning

confidence: 99%

“…Radar electromagnetic scattering may be multiple-bounce in closed spaces such as indoors and in tunnels scattering is directly reflected by the target. The multi-bounce sc between the target, ground and wall more than once [25][26][27][28].…”

Section: Radar Slant Range Of Multiple Bounce Scattering Characteristicmentioning

confidence: 99%

False Detections Revising Algorithm for Millimeter Wave Radar SLAM in Tunnel

Wei

Wang

et al. 2023

Remote Sensing

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Millimeter wave (MMW) radar simultaneous localization and mapping (SLAM) technology is an emerging technology in a tunnel vehicle accident rescue scene. It is a powerful tool for statistic-trapped vehicle detection with limited vision caused by darkness, heat, and smoke. A variety of SLAM frameworks have been proven to be able to obtain 3-degree-of-freedom (3-dof) pose estimation results using 2-dimention (2D) MMW radar in open space. In the application of millimeter wave radar for pose estimation and mapping in a closed environment, closed space structures and artificial targets together constitute high-intensity multi-path scattering measurement data, leading to radar false detections. Radar false detections caused by multi-path scattering are generally considered to be detrimental to radar applications, such as multi-target tracking. However, few studies analyze the mechanism of multi-path effects on radar SLAM, especially in closed spaces. In order to address the problem, this paper first presents a radar multi-path scattering theory to study the generation mechanism difference of false and radar true detection and their influences on radar SLAM 2D pose estimation and mapping in tunnel. According to the scattering mechanism differences on SLAM, a radar azimuth scattering angle signature is proposed, which allows distinguishing radar false detections from real ones. This is useful in avoiding using unreliable radar false detections to solve a radar SLAM problem. In addition, two different radar false detection revising methods combined with the CSM (correlative scan matching) algorithm are proposed in this paper. The HTMR-CSM (hard-threshold-multi-path-revised correlative scan matching) algorithm only depends on a hard threshold of radar azimuth scattering angle signature to eliminate all radar false detections as much as possible before CSM. Another idea is the STMR-CSM (soft-threshold-multi-path-revised correlative scan matching) algorithm. All the radar false detections are classified according to the distribution model of radar azimuth accuracy, and part of more reliable radar false detections are retained to estimate a more accurate pose. All the ideas in this paper are validated by using an MMW 2D radar mounted on a rail-guided robot in a tunnel. Two cars on fire were set as the targets. The experimental results show that the STMR-CSM algorithm that keeps the reliable radar false detections improves the positioning accuracy by 20% compared with CSM.

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“…For instance, the authors of [ 23 ] conducted AoA and signal measurements in a 35 m by 65.5 m open space and achieved a position accuracy ranging from 16 cm to 3.25 m. Positioning research using this mmWave technology is still in very early stages but early theoretical findings and some practical experiments demonstrate its strong potential to achieve the very high accuracy required by modern smart applications. The authors in [ 107 ] propose a multipath-assisted localization (MAL) model based on millimeter-wave radar to achieve the localization of indoor electronic devices. The model fully considers the help of the multipath effect when describing the characteristics of the reflected signal and precisely locates the target position by using the MAL area formed by the reflected signal.…”

Section: Technologies For 3d Localizationmentioning

confidence: 99%

A Survey of 3D Indoor Localization Systems and Technologies

Sesyuk

Ioannou

Raspopoulos

2022

Sensors

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Indoor localization has recently and significantly attracted the interest of the research community mainly due to the fact that Global Navigation Satellite Systems (GNSSs) typically fail in indoor environments. In the last couple of decades, there have been several works reported in the literature that attempt to tackle the indoor localization problem. However, most of this work is focused solely on two-dimensional (2D) localization, while very few papers consider three dimensions (3D). There is also a noticeable lack of survey papers focusing on 3D indoor localization; hence, in this paper, we aim to carry out a survey and provide a detailed critical review of the current state of the art concerning 3D indoor localization including geometric approaches such as angle of arrival (AoA), time of arrival (ToA), time difference of arrival (TDoA), fingerprinting approaches based on Received Signal Strength (RSS), Channel State Information (CSI), Magnetic Field (MF) and Fine Time Measurement (FTM), as well as fusion-based and hybrid-positioning techniques. We provide a variety of technologies, with a focus on wireless technologies that may be utilized for 3D indoor localization such as WiFi, Bluetooth, UWB, mmWave, visible light and sound-based technologies. We critically analyze the advantages and disadvantages of each approach/technology in 3D localization.

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Millimeter-Wave Radar Localization Using Indoor Multipath Effect

Cited by 11 publications

References 37 publications

Radar-Based Millimeter-Wave Sensing for Accurate 3-D Indoor Positioning: Potentials and Challenges

Radar-Based Millimeter-Wave Sensing for Accurate 3-D Indoor Positioning: Potentials and Challenges

False Detections Revising Algorithm for Millimeter Wave Radar SLAM in Tunnel

A Survey of 3D Indoor Localization Systems and Technologies

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