2022/08/22 by Yu Ge, Ge, Yu, Ossi Kaltiokallio +13
Engineering · #FOS: Electrical engineering #Indoor and Outdoor Localization Technologies #Millimeter-Wave Propagation and Modeling #Signal Processing (eess.SP) #UAV Applications and Optimization #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2208.10204
openalex publication_date 2022/08/22 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Networks in 5G and beyond utilize millimeter wave (mmWave) radio signals, large bandwidths, and large antenna arrays, which bring opportunities in jointly localizing the user equipment and mapping the propagation environment, termed as simultaneous localization and mapping (SLAM). Existing approaches mainly rely on delays and angles, and ignore the Doppler, although it contains geometric information. In this paper, we study the benefits of exploiting Doppler in SLAM through deriving the posterior Cramér-Rao bounds (PCRBs) and formulating the extended Kalman-Poisson multi-Bernoulli sequential filtering solution with Doppler as one of the involved measurements. Both theoretical PCRB analysis and simulation results demonstrate the efficacy of utilizing Doppler.