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Open AccessArticle

5G SLAM Using the Clustering and Assignment Approach with Diffuse Multipath

Department of Electrical Engineering, Chalmers University of Technology, 412 96 Gothenburg, Sweden
Department of Electronic Engineering, Hanyang University, 04763 Seoul, Korea
Department of Electrical and Information Technology, Lund University, 221 00 Lund, Sweden
Author to whom correspondence should be addressed.
Sensors 2020, 20(16), 4656;
Received: 16 July 2020 / Revised: 13 August 2020 / Accepted: 14 August 2020 / Published: 18 August 2020
(This article belongs to the Special Issue Sensor Network Signal Processing)
5G communication systems operating above 24 GHz have promising properties for user localization and environment mapping. Existing studies have either relied on simplified abstract models of the signal propagation and the measurements, or are based on direct positioning approaches, which directly map the received waveform to a position. In this study, we consider an intermediate approach, which consists of four phases—downlink data transmission, multi-dimensional channel estimation, channel parameter clustering, and simultaneous localization and mapping (SLAM) based on a novel likelihood function. This approach can decompose the problem into simpler steps, thus leading to lower complexity. At the same time, by considering an end-to-end processing chain, we are accounting for a wide variety of practical impairments. Simulation results demonstrate the efficacy of the proposed approach. View Full-Text
Keywords: mmWave single base station SLAM; diffuse multipath; clustering mmWave single base station SLAM; diffuse multipath; clustering
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Ge, Y.; Wen, F.; Kim, H.; Zhu, M.; Jiang, F.; Kim, S.; Svensson, L.; Wymeersch, H. 5G SLAM Using the Clustering and Assignment Approach with Diffuse Multipath. Sensors 2020, 20, 4656.

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