Cooperative localization and tracking using multipath channel information

Indoor environments are characterized by harsh multipath conditions. Multipath-assisted indoor navigation and tracking (MINT) exploits position-related features of the propagation channel to improve its accuracy and robustness. In this work we introduce an anchor-free, cooperative MINT algorithm. The algorithm uses monostatic and bistatic (cooperative) measurements conducted by the agents. The estimated multipath components are associated to virtual anchors exploiting their position-related information. We present a proof-of-concept using data from an ultra-wideband measurement campaign, reaching a position accuracy better than 6 cm for 90% of the measurement points.