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

TL;DR

This paper presents novel end-to-end mmWave SLAM methods that improve robustness and accuracy in complex indoor environments, validated through real measurements and ray-tracing simulations, with open data for further research.

Contribution

It introduces a new multipath channel estimation technique based on BRSRP measurements and robust snapshot SLAM algorithms that do not require prior motion models.

Findings

Enhanced channel parameter estimation accuracy

Improved SLAM robustness in cluttered environments

Validated results with real 60 GHz measurements

Abstract

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 beam-patterns 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 60 GHz 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 60 GHz data openly available for the research community, facilitating results reproducibility as well as further algorithm development.