The paper presents a 5G terrestrial positioning system using multi-carrier carrier phase ranging, deep learning for NLOS identification, and IMU/camera sensor fusion via error-state EKF, achieving less than 5 meters error on simulated 5G signals over KITTI urban trajectories.
Survey of cellular mobile radio localiza- tion methods: From 1G to 5G
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A Robust 5G Terrestrial Positioning System with Sensor Fusion in GNSS-denied Scenarios
The paper presents a 5G terrestrial positioning system using multi-carrier carrier phase ranging, deep learning for NLOS identification, and IMU/camera sensor fusion via error-state EKF, achieving less than 5 meters error on simulated 5G signals over KITTI urban trajectories.