I. Introduction
Millimeter wave (mmWave) communications can meet the high data rate demand due to its large bandwidth. Its high propagation loss can be well compensated by using massive multiple-input multiple-output (MIMO) technique [2][6]. However, Due to the limited physical space with closely placed antennas and prohibitive power consumption in mmWave massive MIMO systems, it is difficult to equip a dedicated radio frequency (RF) chain for each antenna. To reduce complexity and cost, phase shifter based two-stage architecture, usually called hybrid architecture, is widely used at both the transmitter and the receiver to connect a large number of antennas with much fewer RF chains [7], [8].