Distributed autonomous systems for localization and mapping

The goal of this project is to develop autonomous functions for the joint problem of sensor management and aircraft control to relieve a human system operator. This will be achieved by exploring high level control of the platforms and their resources, e.g. sensors.

Today we have distributed radio systems everywhere, from global navigation systems (GNSS), to cellular radio systems and local area networks. Many positioning services are based on one or a combination of these, where the received radio signals at a mobile user are analyzed and used for localization.

Sensor fusionIllustration of how a radio signal reaches the receiver in different ways due to multipath effects caused by reflections in the walls.The basic measurements are usually split into timing and signal strength measurements. In this project, we extend these approaches by studying the power delay profile (PDP), that provides a deeper understanding multipath phenomenon that are so hard to mitigate in classical methods.

Both timing and signal strength measurements can be derived from the PDP. However, we investigate the advantages of estimating the position from the full PDP, and relate this to a map of the environment to further understand the multipath effects, which in this way can be turned into an information source rather than a nuisance.


WASP Sensor fusion research