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Simultaneous localization and mapping (SLAM) is a key technology thatprovides user equipment (UE) tracking and environment mapping services,enabling the deep integration of sensing and communication. The millimeter-wave(mmWave) communication, with its larger bandwidths and antenna arrays,inherently facilitates more accurate delay and angle measurements than sub-6GHz communication, thereby providing opportunities for SLAM. However, none ofthe existing works have realized the SLAM function under the 5G New Radio (NR)standard due to specification and hardware constraints. In this study, weinvestigate how 5G mmWave communication systems can achieve situationalawareness without changing the transceiver architecture and 5G NR standard. Weimplement 28 GHz mmWave transceivers that deploy OFDM-based 5G NR waveform with160 MHz channel bandwidth, and we realize beam management following the 5G NR.Furthermore, we develop an efficient successive cancellation-based angleextraction approach to obtain angles of arrival and departure from thereference signal received power measurements. On the basis of anglemeasurements, we propose an angle-only SLAM algorithm to track UE and mapfeatures in the radio environment. Thorough experiments and ray tracing-basedcomputer simulations verify that the proposed angle-based SLAM can achievesub-meter level localization and mapping accuracy with a single base stationand without the requirement of strict time synchronization. Our experimentsalso reveal many propagation properties critical to the success of SLAM in 5GmmWave communication systems.

Angle-based SLAM on 5G mmWave Systems: Design, Implementation, and Measurement