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.
Koirala R., Denis B., Uguen B., Dardari D., Wymeersch H. (2020). Simultaneous localization and mapping in millimeter wave networks with angle measurements. Institute of Electrical and Electronics Engineers Inc. [10.1109/ICCWorkshops49005.2020.9145046].
Simultaneous localization and mapping in millimeter wave networks with angle measurements
Dardari D.Writing – Review & Editing
;
2020
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
