Iterated Posterior Linearization PMB Filter for 5G SLAM | IEEE Conference Publication | IEEE Xplore

Iterated Posterior Linearization PMB Filter for 5G SLAM


Abstract:

5G millimeter wave (mmWave) signals have inherent geometric connections to the propagation channel and the propagation environment. Thus, they can be used to jointly loca...Show More

Abstract:

5G millimeter wave (mmWave) signals have inherent geometric connections to the propagation channel and the propagation environment. Thus, they can be used to jointly localize the receiver and map the propagation environment, which is termed as simultaneous localization and mapping (SLAM). One of the most important tasks in the 5G SLAM is to deal with the nonlinearity of the measurement model. To solve this problem, existing 5G SLAM approaches rely on sigma-point or extended Kalman filters, linearizing the measurement function with respect to the prior probability density function (PDF). In this paper, we study the linearization of the measurement function with respect to the posterior PDF, and implement the iterated posterior linearization filter into the Poisson multi-Bernoulli SLAM filter. Simulation results demonstrate the accuracy and precision improvements of the resulting SLAM filter.
Date of Conference: 16-20 May 2022
Date Added to IEEE Xplore: 11 August 2022
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Conference Location: Seoul, Korea, Republic of

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I. Introduction

5G mmWave signals provide unique opportunities for simultaneous localization and mapping (SLAM), due to their inherent geometric connection to the propagation environment [1]. Signals from the base station (BS) reach the user equipment (UE) via multiple propagation paths. Each path is determined by the propagation environment and the locations of the BS and the UE. State-of-the-art channel estimators can provide accurate estimates for those paths by using received signals, in terms of groups of channel gain, time of arrival (TOA), angles of arrival (AOA), and angles of departure (AOD), which contain information needed for SLAM [2], [3].

References

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