Single-anchor two-way localization bounds for 5G mmWave systems
Artikel i vetenskaplig tidskrift, 2020

Recently, millimeter-wave (mmWave) 5G localization has been shown to be to provide centimeter-level accuracy, lending itself to many location-aware applications, e.g., connected autonomous vehicles (CAVs). One assumption usually made in the investigation of localization methods is that the user equipment (UE), i.e., a CAV, and the base station (BS) are time synchronized. In this paper, we remove this assumption and investigate two two-way localization protocols: (i) a round-trip localization protocol (RLP), whereby the BS and UE exchange signals in two rounds of transmission and then localization is achieved using the signal received in the second round; (ii) a collaborative localization protocol (CLP), whereby localization is achieved using the signals received in the two rounds. We derive the position and orientation error bounds applying beamforming at both ends and compare them to the traditional one-way localization. Our results show that mmWave localization is mainly limited by the angular rather than the temporal estimation and that CLP significantly outperforms RLP. Our simulations also show that it is more beneficial to have more antennas at the BS than at the UE.


Fisher information


orientation error bound



position error bound

collaborative communications


Z. Abu-Shaban

University of New South Wales (UNSW)

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

T. Abhayapala

Australian National University

G. Seco-Granados

Universitat Autonoma de Barcelona (UAB)

IEEE Transactions on Vehicular Technology

0018-9545 (ISSN) 1939-9359 (eISSN)

Vol. 69 6 6388-6400 9064586

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA (2015-04849), 2016-01-01 -- 2018-12-31.

High precision positioning for cooperative ITS applications

Europeiska kommissionen (EU) (EC/H2020/636537), 2015-01-01 -- 2017-12-31.







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