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Radio localization is a key enabler for joint communication and sensing inthe fifth/sixth generation (5G/6G) communication systems. With the help ofmultipath components (MPCs), localization and mapping tasks can be done with asingle base station (BS) and single unsynchronized user equipment (UE) if bothof them are equipped with an antenna array. However, the antenna array at theUE side increases the hardware and computational cost, preventing localizationfunctionality. In this work, we show that with Doppler estimation and MPCs,localization and mapping tasks can be performed even with a single-antennamobile UE. Furthermore, we show that the localization and mapping performancewill improve and then saturate at a certain level with an increased UE speed.Both theoretical Cram\'er-Rao bound analysis and simulation results show thepotential of localization under mobility and the effectiveness of the proposedlocalization algorithm.

Doppler-Enabled Single-Antenna Localization and Mapping Without Synchronization