Simultaneous Localization and Mapping in Millimeter Wave Networks with Angle Measurements

Localisation et Cartographie Simultanées dans un Réseau à Ondes Radio Millimétriques avec Mesures d'Angles d'Arrivée

Remun Koirala (1, 2, 3) , Benoit Denis (1) , Bernard Uguen (3) , Davide Dardari (2) , Henk Wymeersch (4)

1 CEA-LETI - Commissariat à l'énergie atomique et aux énergies alternatives - Laboratoire d'Electronique et de Technologie de l'Information
2 DEIS - Department of Electronics, Computer Science and Systems [Bologne]
3 IETR - Institut d'Électronique et des Technologies du numéRique
4 Department of Electrical Engineering, Chalmers University of Technology

In this paper we propose a belief propagation (BP) based simultaneous localization and mapping (SLAM) approach suitable for millimeter wave (mm-Wave) networks. This approach leverages angle of arrival (AoA) and angle of departure (AoD) information with respect to multiple scatterers. Considering measurements from multiple base stations (BSs) and scatterers, seen as multiple sources, we solve out the data association problem from a centralized BP perspective, while jointly estimating the positions of both the mobile and scatterers. Simulations show that the proposed approach outperforms conventional distributed BS-wise BP methods in terms of estimation accuracy.

Keywords: Index Terms-SLAM; loopy belief propagation; data association

Domains: Engineering Sciences [physics]

Remun Koirala, Benoit Denis, Bernard Uguen, Davide Dardari, Henk Wymeersch. Simultaneous Localization and Mapping in Millimeter Wave Networks with Angle Measurements. 2020 IEEE International Conference on Communications Workshops (ICC Workshops), Jun 2020, Dublin, Ireland. pp.1-6, ⟨10.1109/ICCWorkshops49005.2020.9145046⟩. ⟨cea-02949954⟩