Description
Date depot: 18 mars 2021
Titre: High resolution radio-light 3D SLAM and fusion for hybrid ultra-dense network
Directeur de thèse:
Xun ZHANG (LISITE)
Domaine scientifique: Sciences pour l'ingénieur
Thématique CNRS : Non defini
Resumé: ISEP proposes a PhD project on “High resolution radio-light 3D SLAM and fusion for hybrid ultra-dense network” which can support a high User Termnial positioning accuracay (<1 cm) in indoor environment. It is planning to to fuse the acceleration recordings from an inertial measurement unit (IMU) in a smart phone, with position measurements obtained from 5G Received Signal Strength (RSS), Time Difference of Arrival (TDoA) and Angle of Arrival (AoA) at fBUs, and Model estimates of position measurement accuracies by optimally combining Predicted Estimate of Position from previous Predicted Estimate of Position with current RSS, TDoA and AoA Position Measurements using a Particle Filter [Arulampalam2002] to obtain Optimum x, y, z Position Estimates. The performance of the system will now be dependent on the correct estimates of RSS, TDoA and AoA accuracies that are used to modify the Particle Filter’s set of beliefs of possible location. Since position measurements are obtained from RSS, TDoA and AoA at different time intervals e.g. every 10ms, 20ms and 30ms and at different accuracies in different part of the location areas. This will have the benefit of improving the accuracy of measurements from previous measurements taken in both time and space.
Doctorant.e: Zhao Hongxiu