Millimeter-wave Radio SLAM: End-to-End Processing Methods and Experimental Validation

In this article, we address the timely topic of cellular bistatic simultaneous localization and mapping (SLAM) with specific focus on complete processing solutions from raw I/Q samples to user equipment (UE) and landmark location information in millimeter-wave (mmWave) networks. Firstly, we propose a new multipath channel parameter estimation solution which operates directly with beam reference signal received power (BRSRP) measurements, alleviating the need to know the true antenna beampatterns or the underlying beamforming weights. Additionally, the method has built-in robustness against unavoidable antenna sidelobes. Secondly, we propose new snapshot SLAM algorithms that have increased robustness and identifiability compared to prior-art, in practical built environments with complex clutter and multi-bounce propagation scenarios. The performance of the proposed methods is assessed at the 60 GHz mmWave band, via both realistic ray-tracing evaluations as well as true experimental measurements, in an indoor environment. Wide set of offered results clearly demonstrate the improved performance, compared to the relevant prior-art, in terms of the channel parameter estimation as well as the end-to-end SLAM performance. Finally, the article provides the measured 60 GHz data openly available for the research community, facilitating results reproducibility as well as further algorithm development.