# Position and Orientation Estimation through Millimeter Wave MIMO in 5G Systems

## TL;DR

This paper investigates the potential of millimeter wave MIMO systems in 5G for accurate position and orientation estimation, deriving theoretical bounds and proposing a novel estimation algorithm that performs well across various conditions.

## Contribution

It introduces a new two-stage estimation algorithm for position and rotation angle that approaches the theoretical CRB in millimeter wave 5G systems with a single transmitter.

## Key findings

- Accurate position and orientation estimation is feasible with a single transmitter.
- The proposed algorithm achieves near-CRB performance at high SNR.
- Effective in line-of-sight and obstructed conditions.

## Abstract

Millimeter wave signals and large antenna arrays are considered enabling technologies for future 5G networks. While their benefits for achieving high-data rate communications are well-known, their potential advantages for accurate positioning are largely undiscovered. We derive the Cram\'{e}r-Rao bound (CRB) on position and rotation angle estimation uncertainty from millimeter wave signals from a single transmitter, in the presence of scatterers. We also present a novel two-stage algorithm for position and rotation angle estimation that attains the CRB for average to high signal-to-noise ratio. The algorithm is based on multiple measurement vectors matching pursuit for coarse estimation, followed by a refinement stage based on the space-alternating generalized expectation maximization algorithm. We find that accurate position and rotation angle estimation is possible using signals from a single transmitter, in either line-of- sight, non-line-of-sight, or obstructed-line-of-sight conditions.