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Constrained environments, such as indoor and urban settings, present asignificant challenge for accurate moving object positioning due to thediminished line-of-sight (LoS)communication with the wireless anchor used forpositioning. The 5th generation new radio (5G NR) millimeter wave (mmWave)spectrum promises high multipath resolvability in the time and angle domain,enabling the utilization of multipath signals for such problems rather thanmitigating their effects. This paper investigates the benefits of integratingmultipath signals into 5G LoS-based positioning systems with onboard motionsensors (OBMS). We provide a comprehensive analysis of the positioning system'sperformance in various conditions of erroneous 5G measurements and outagescenarios, which offers insights into the system's behavior in challengingenvironments. To validate our approach, we conducted a road test in downtownToronto, utilizing actual OBMS measurements gathered from sensors installed inthe test vehicle. The results indicate that utilization of multipath signalsfor wireless positioning operating in multipath-rich environments (e.g. urbanand indoor) can bridge 5G LoS signal outages, thus enhancing the reliabilityand accuracy of the positioning solution. The redundant measurements obtainedfrom the multipath signals can enhance the system's robustness, particularlywhen low-cost 5G receivers with a limited resolution for angle or rangemeasurements are present. This holds true even when only considering theutilization of single-bounce reflections (SBRs).

Demonstrating the Merits of Integrating Multipath Signals into 5G LoS-Based Positioning Systems for Navigation in Challenging Environments