A Robust Single-Anchor Localization Method With Multipath Assistance in NLOS Environments

Location-aware technologies are fast becoming a key instrument in civil applications. Ultra-wide bandwidth signals and their multipath components can provide precise channel information for radio frequency-based simultaneous localization and mapping (SLAM). In this paper, we provide a multipath-assisted single-anchor localization (MA-SAL) method to achieve robust localization of a user equipment as well as reflection points in indoor complex environments. In the proposed scheme, we develop a matching filter to determine the positions of the multipath components in the recorded channel impulse response and then estimate the delay and the angle-of-arrival of the signal on each propagation path. These estimates are fused with inertial measurement unit by an adaptive federated filter to infer the states of a user equipment and reflecting surfaces. Experimental results show that the proposed MA-SAL outperforms traditional single-anchor localization in terms of localization accuracy under indoor non-line-of-sight propagation conditions.