Millimeter-wave Mobile Sensing and Environment Mapping: Models, Algorithms and Validation
Artikel i vetenskaplig tidskrift, 2022

Integrating efficient connectivity, positioning and sensing functionalities into 5G New Radio (NR) and beyond mobile cellular systems is one timely research paradigm, especially at mm-wave and sub-THz bands. In this article, we address the radio-based sensing and environment mapping prospect with specific emphasis on the user equipment (UE) side. We first describe an efficient $\ell_1$-regularized least-squares (LS) approach to obtain sparse range--angle charts at individual measurement or sensing locations. For the subsequent environment mapping, we then introduce a novel state model for mapping diffuse and specular scattering, which allows efficient tracking of individual scatterers over time using interacting multiple model (IMM) extended Kalman filter and smoother. Also the related measurement selection and data association problems are addressed. We provide extensive numerical indoor mapping results at the 28~GHz band deploying OFDM-based 5G NR uplink waveform with 400~MHz channel bandwidth, covering both accurate ray-tracing based as well as actual RF measurement results. The results illustrate the superiority of the dynamic tracking-based solutions, compared to static reference methods, while overall demonstrate the excellent prospects of radio-based mobile environment sensing and mapping in future mm-wave networks.

Antenna arrays


joint communications and sensing



5G New Radio (NR)

Simultaneous localization and mapping

Antenna measurements

Radar tracking

RF convergence

OFDM radar

mobile radar



indoor mapping

Radio frequency


Carlos Baquero Barneto

Tampereen Yliopisto

Elizaveta Rastorgueva-Foi

Tampereen Yliopisto

Furkan Keskin

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Taneli Riihonen

Tampereen Yliopisto

Matias Turunen

Tampereen Yliopisto

Jukka Talvitie

Tampereen Yliopisto

Henk Wymeersch

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

M. Valkama

Tampereen Yliopisto

IEEE Transactions on Vehicular Technology

0018-9545 (ISSN)

Vol. 71 4 3900-3916

A flagship for B5G/6G vision and intelligent fabric of technology enablers connecting human, physical, and digital worlds (Hexa-X )

Europeiska kommissionen (EU) (EC/2020/101015956), 2021-01-01 -- 2023-06-30.







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