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: Contribution to conferencePaper


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
Publication statusPublished - 2021
EventCOST CA15104 ACTION: Inclusive Radio Communication Networks for 5G and Beyond - Virtual
Duration: 8 Feb 20219 Feb 2021


OtherCOST CA15104 ACTION: Inclusive Radio Communication Networks for 5G and Beyond
Abbreviated titleCOST IRACON
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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