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5th Generation (5G) mobile communication systems operating at around 28 GHzhave the potential to be applied to simultaneous localization and mapping(SLAM). Most existing 5G SLAM studies estimate environment as many pointtargets, instead of extended targets. In this paper, we focus on theperformance analysis of 5G SLAM for multiple extended targets. To evaluate themapping performance of multiple extended targets, a new mapping error metric,named extended targets generalized optimal sub-pattern assignment (ET-GOPSA),is proposed in this paper. Compared with the existing metrics, ET-GOPSA notonly considers the accuracy error of target estimation, the cost of missingdetection, the cost of false detection, but also the cost of matching theestimated point with the extended target. To evaluate the performance of 5Gsignal in SLAM, we analyze and simulate the mapping error of 5G signal sensingby ET-GOPSA. Simulation results show that, under the condition of SNR = 10 dB,5G signal sensing can barely meet to meet the requirements of SLAM for multipleextended targets with the carrier frequency of 28 GHz, the bandwidth of 1.23GHz, and the antenna size of 32.

SLAM for Multiple Extended Targets using 5G Signal