I. Introduction
With the fast development of mobile Internet and electronic devices, various emerging applications such as virtual reality and augmented reality have entered into our society and have created an explosive growth in the data volume. On the other hand, due to the heavily crowded and fragmented spectrum below 6 GHz, it becomes more and more challenging to meet this ever-increasing data rate demand using current wireless networks, which are mainly operated at sub-6 GHz frequency band. By contrast, millimeter wave (mmWave) band, ranging from 30 GHz to 300 GHz, is widely considered as a key technology to achieve multi-gigabit data transmission thanks to its large available bandwidth [1], [2]. But unfortunately, mmWave communications often suffer severe propagation loss. To address this concern, mmWave transceivers are usually equipped with large antenna arrays for beamforming, which can compensate for the severe propagation loss and guarantee a favorable signal-to-noise ratio (SNR) for mmWave communications [3], [4].