Millimeter-Wave Radio SLAM: End-to-End Processing Methods and Experimental Validation

In this article, we address the timely topic of cellular bistatic simultaneous localization and mapping (SLAM) with specific focus on end-to-end processing solutions, from raw I/Q samples, via channel parameter estimation to user equipment (UE) and landmark location information in millimeter-wave (m...

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Vydáno v:IEEE journal on selected areas in communications Ročník 42; číslo 9; s. 2550 - 2567
Hlavní autoři: Rastorgueva-Foi, Elizaveta, Kaltiokallio, Ossi, Ge, Yu, Turunen, Matias, Talvitie, Jukka, Tan, Bo, Furkan Keskin, Musa, Wymeersch, Henk, Valkama, Mikko
Médium: Journal Article
Jazyk:angličtina
Vydáno: New York IEEE 01.09.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Algorithms
Antenna measurements
Antennas
Beamforming
Built environment
Channel estimation
Clutter
Indoor environments
integrated sensing and communications
Millimeter wave communication
Millimeter waves
millimeter-wave networks
Parameter estimation
Parameter identification
Performance evaluation
Ray tracing
Reference signals
Robustness
Robustness (mathematics)
Sidelobes
Simultaneous localization and mapping
ISSN:0733-8716, 1558-0008, 1558-0008
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Popis
Shrnutí:In this article, we address the timely topic of cellular bistatic simultaneous localization and mapping (SLAM) with specific focus on end-to-end processing solutions, from raw I/Q samples, via channel parameter estimation to user equipment (UE) and landmark location information in millimeter-wave (mmWave) networks, with minimal prior knowledge. Firstly, we propose a new multipath channel parameter estimation solution that operates directly with beam reference signal received power (BRSRP) measurements, alleviating the need to know the true antenna beampatterns or the underlying beamforming weights. Additionally, the method has built-in robustness against unavoidable antenna sidelobes. Secondly, we propose new snapshot SLAM algorithms that have increased robustness and identifiability compared to prior art, in practical built environments with complex clutter and multi-bounce propagation scenarios, and do not rely on any a priori motion model. The performance of the proposed methods is assessed at the 60GHz mmWave band, via both realistic ray-tracing evaluations as well as true experimental measurements, in an indoor environment. A wide set of offered results demonstrate the improved performance, compared to the relevant prior art, in terms of the channel parameter estimation as well as the end-to-end SLAM performance. Finally, the article provides the measured 60GHz data openly available for the research community, facilitating results reproducibility as well as further algorithm development.
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ISSN:0733-8716
1558-0008
1558-0008
DOI:10.1109/JSAC.2024.3413995