Robust range‐only beacon mapping in multipath environments

This study proposes a robust range‐only beacon mapping method for registering the locations of range‐only beacons automatically. The proposed method deals with the multipath propagation of signals from range‐only beacons using the range‐only measurement association (RoMA) and an unscented Kalman filter (UKF). The RoMA initially predicts the candidate positions of a range‐only beacon. The location of the range‐only beacon is then updated using the UKF. With the proposed method, the locations of range‐only beacons are accurately estimated in a multipath environment. The proposed method also provides the location uncertainty of each range‐only beacon. Simulation results using the model for multipath propagation and experimental results in a real indoor environment verify the performance of the proposed method.