Practical challenges of particle filter based UWB localization in vehicular environments

In this paper, the challenges of Ultra Wide Band localization for key fob applications in vehicular environments are discussed. Trilateration based Kalman and particle filter approaches are discussed regarding their applicability to this task. A particle filter method is proposed which combines the benefit of enabling non-Gaussian observation error distribution and direct mapping of a particle cloud to a vehicle zone. The presented measurements show a strong sensitivity on the knowledge of line-of-sight or non-line-of-sight conditions. It is concluded that correct estimation of the channel condition is the key factor in improving the performance of the proposed method.

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