We present a message passing algorithm for localization and tracking inmultipath-prone environments . The proposed adaptive probabilistic data association algorithminfers the position of a mobile agent using multiple anchors . The algorithm adapts in an online manner to both, the time-varyingsignal-to-noise-ratio and line-of-sight (LOS) existence probability of eachanchor . In a numerical analysis we show that the algorithm is able to operatereliably in environments characterized by strong multipath propagation, even if a temporary obstruction of all anchors occurs simultaneously . We also show that .

Author(s) : Alexander Venus, Erik Leitinger, Stefan Tertinek, Klaus Witrisal

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Keywords : algorithm - anchors - message - passing - localization -

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