Future wireless networks are poised to transform into integrated sensing and communication (ISAC) networks, unlocking groundbreaking services such as digital twinning. To harness the full potential of ISAC networks, it is essential to experimentally validate their sensing capabilities and the role of sensing in boosting communication. However, current prototype systems fall short in supporting multiple sensing functions or validating sensing-assisted communication. In response, we have developed an advanced ISAC prototype system that incorporates monostatic, bistatic, and network sensing modes. This system supports multimodal data collection and synchronization, ensuring comprehensive experimental validation. On the communication front, it excels in sensing-aided beam tracking and real-time high-definition video transmission. For sensing applications, it provides precise angle and range measurements, real-time angle-range imaging, and radio-based simultaneous localization and mapping (SLAM). Our prototype aligns with the 5G New Radio standard, offering scalability for up to 16 user equipments (UEs) in uplink transmission and 10 UEs in downlink transmission. Real-world tests showcase the system's superior accuracy, with root mean square errors of 2.3 degrees for angle estimation and 0.3 meters (m) for range estimation. Additionally, the estimation errors for multimodal-aided real-time radio SLAM localization and mapping are 0.25 m and 0.8 m, respectively.

翻译：未来无线网络有望转型为集成感知与通信网络，从而解锁数字孪生等突破性服务。为充分发挥ISAC网络的潜力，必须通过实验验证其感知能力以及感知在增强通信中的作用。然而，现有原型系统在支持多种感知功能或验证感知辅助通信方面存在不足。为此，我们研发了一种先进的ISAC原型系统，集成了单站、双站及网络感知模式。该系统支持多模态数据采集与同步，确保全面的实验验证。在通信方面，该系统擅长感知辅助的波束追踪与实时高清视频传输。在感知应用方面，可提供精确的角度与距离测量、实时角度-距离成像以及基于无线电的同步定位与建图。本原型系统遵循5G新空口标准，在上行传输中可支持多达16个用户设备，在下行传输中可支持10个用户设备。实际测试表明该系统具有卓越的精度：角度估计的均方根误差为2.3度，距离估计误差为0.3米。此外，多模态辅助的实时无线电SLAM定位与建图的估计误差分别为0.25米和0.8米。