A Message Passing based Adaptive PDA Algorithm for Robust Radio-based Localization and Tracking

Alexander Venus*, Erik Leitinger, Stefan Tertinek, Klaus Witrisal

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


We present a message passing algorithm for localization and tracking in multipath-prone environments that implicitly considers obstructed line-of-sight situations. The proposed adaptive probabilistic data association algorithm infers the position of a mobile agent using multiple anchors by utilizing delay and amplitude of the multipath components (MPCs) as well as their respective uncertainties. By employing a nonuniform clutter model, we enable the algorithm to facilitate the position information contained in the MPCs to support the estimation of the agent position without exact knowledge about the environment geometry. Our algorithm adapts in an online manner to both, the time-varying signal-to-noise-ratio and line-of-sight (LOS) existence probability of each anchor. In a numerical analysis we show that the algorithm is able to operate reliably in environments characterized by strong multipath propagation, even if a temporary obstruction of all anchors occurs simultaneously.
Original languageEnglish
Title of host publication2021 IEEE Radar Conference
Subtitle of host publicationRadar on the Move, RadarConf 2021
Number of pages6
ISBN (Electronic)9781728176093
Publication statusPublished - 7 May 2021
Event2021 IEEE Radar Conference: RadarConf21 - Atlanta, Atlanta, United States
Duration: 7 May 202114 May 2021

Publication series

NameIEEE National Radar Conference - Proceedings
ISSN (Print)1097-5659


Conference2021 IEEE Radar Conference
Abbreviated titleRadarConf21
Country/TerritoryUnited States
Internet address


  • Obstructed Line-Of-Sight
  • Multipath
  • Message Passing
  • Probabilistic Data Association
  • Belief Propagation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Fields of Expertise

  • Information, Communication & Computing


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