| 摘要 |
The invention relates to a method and to a device for determining a position of a mobile receiver RX, which moves in an at least quasi-stationary environment, on the basis of signals s(kT) which are emitted by a transmitter TX positioned immobile in the environment, wherein the receiver RX receives as reception signal (I) a signal s(kT) which is emitted by the transmitter TX and which is transmitted via N(k) transmission paths as signal components si(τ), where k:=time step, τ:=time delay, and i=0, . . . , N(k)−1, wherein, as interactions: reflections of the signal components si(τ) at reflectors and/or scatterings of the signal components si(τ) at scatterers are taken into account on the transmission paths, wherein on the basis of the reception signals q(k,τ) the following are determined a position ru(k) and a velocity vu(k) of the receiver RX, and for each of the N(k) transmission paths, in each case a position rv,i(k) of a virtual transmitter vTXi, and a transmission path distance dv,i between the transmitter TX and a last scatterer SCATTERi lying on the i-th transmission path, provided that such a scatterer SCATTERi is present, wherein: a signal component si(τ) of the signal s(kT) that is transmitted on the i-th transmission path no longer experiences further scattering between the last scatterer SCATTERi and the receiver RX, and, it is assumed that each signal component si(τ) received by the receiver RX is emitted by an assigned virtual transmitter vTXi and has reached the receiver RX directly without interaction, and at least the determined position ru(k) of the receiver and/or the velocity vu(k) of the receiver RX are/is provided and/or output for further evaluations. |
