V2X Sidelink Positioning in FR1: From Ray-Tracing and Channel Estimation to Bayesian Tracking

TL;DR

This paper explores vehicle-to-everything (V2X) sidelink tracking in sub-6 GHz bands, proposing a Kalman-filter-based method with novel error covariance bounds and gating techniques validated through ray-tracing simulations.

Contribution

It introduces a new V2X sidelink tracking approach using error covariance bounds and gating, specifically tailored for sub-6 GHz frequencies, which has been less studied.

Findings

Validated tracking feasibility with ray-tracing data

Demonstrated improved performance with novel EECLBs

Effective LOS path identification through gating

Abstract

Sidelink positioning research predominantly focuses on the snapshot positioning problem, often within the mmWave band. Only a limited number of studies have delved into vehicle-to-anything (V2X) tracking within sub-6 GHz bands. In this paper, we investigate the V2X sidelink tracking challenges over sub-6 GHz frequencies. We propose a Kalman-filter-based tracking approach that leverages the estimated error covariance lower bounds (EECLBs) as measurement covariance, alongside a gating method to augment tracking performance. Through simulations employing ray-tracing data and super-resolution channel parameter estimation, we validate the feasibility of sidelink tracking using our proposed tracking filter with two novel EECLBs. Additionally, we demonstrate the efficacy of the gating method in identifying line-of-sight paths and enhancing tracking performance.