The millimeter-wave (mmWave) communication technology, which employs large-scale antenna arrays, enables inherent sensing capabilities. Simultaneous localization and mapping (SLAM) can utilize channel multipath angle estimates to realize integrated sensing and communication design in 6G communication systems. However, existing works have ignored the significant overhead required by the mmWave beam management when implementing SLAM with angle estimates. This study proposes a joint beam management and SLAM design that utilizes the strong coupling between the radio map and channel multipath for simultaneous beam management, localization, and mapping. In this approach, we first propose a hierarchical sweeping and sensing service design. The path angles are estimated in the hierarchical sweeping, enabling angle-based SLAM with the aid of an inertial measurement unit (IMU) to realize sensing service. Then, feature-aided tracking is proposed that utilizes prior angle information generated from the radio map and IMU. Finally, a switching module is introduced to enable flexible switching between hierarchical sweeping and feature-aided tracking. Simulations show that the proposed joint design can achieve sub-meter level localization and mapping accuracy (with an error < 0.5 m). Moreover, the beam management overhead can be reduced by approximately 40% in different wireless environments.

翻译：毫米波通信技术采用大规模天线阵列，具备天然的感知能力。同步定位与地图构建（SLAM）可利用信道多径角度估计实现6G通信系统中的通感一体化设计。然而，现有工作忽视了在利用角度估计实现SLAM时，毫米波波束管理所需的高额开销。本研究提出一种基于波束管理与SLAM的联合设计方案，利用无线电地图与信道多径之间的强耦合关系，同步实现波束管理、定位与地图构建。该方法首先设计了一种分级扫描与感知服务方案，通过分级扫描估计路径角度，并借助惯性测量单元（IMU）实现基于角度的SLAM以提供感知服务；随后提出基于特征辅助的跟踪方法，利用无线电地图和IMU生成的先验角度信息进行跟踪；最后通过切换模块实现分级扫描与特征辅助跟踪的灵活切换。仿真结果表明，该联合设计方案可实现亚米级定位与地图构建精度（误差<0.5米），同时在不同无线环境下可将波束管理开销降低约40%。