I. Introduction
Massive multiple-input multiple-output (MIMO) systems can provide high spectral efficiency and energy efficiency, and may be implemented in the future wireless systems [1], [2]. However, the limited channel coherence interval makes the orthogonal pilots too long to be employed, which causes interference in channel estimation. Furthermore, this interference constrains the performance improvement of massive MIMO systems, and this phenomenon is named pilot contamination. In order to mitigate the interference in massive MIMO systems, several methods have been proposed [3]. However, these methods only consider the transmission in the horizontal plane, while the degree of freedom (DoF) in the vertical dimension has not been used.