5th Generation (5G) mobile communication systems operating at around 28 GHz have the potential to be applied to simultaneous localization and mapping (SLAM). Most existing 5G SLAM studies estimate environment as many point targets, instead of extended targets. In this paper, we focus on the performance analysis of 5G SLAM for multiple extended targets. To evaluate the mapping 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 not only considers the accuracy error of target estimation, the cost of missing detection, the cost of false detection, but also the cost of matching the estimated point with the extended target. To evaluate the performance of 5G signal in SLAM, we analyze and simulate the mapping error of 5G signal sensing by 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 multiple extended targets with the carrier frequency of 28 GHz, the bandwidth of 1.23 GHz, and the antenna size of 32.

翻译：第五代(5G)移动通信系统工作在约28 GHz频段，具备应用于同时定位与地图构建(SLAM)的潜力。现有大多数5G SLAM研究将环境估计为大量点目标而非扩展目标。本文聚焦于多扩展目标场景下5G SLAM的性能分析。为评估多扩展目标的建图性能，本文提出了一种名为扩展目标广义最优子模式分配(ET-GOPSA)的新型建图误差度量指标。与现有度量方法相比，ET-GOPSA不仅考虑了目标估计的精度误差、漏检代价和虚警代价，还引入了估计点与扩展目标匹配代价的评估。为验证5G信号在SLAM中的性能，我们通过ET-GOPSA对5G信号感知的建图误差进行了分析与仿真。仿真结果表明：在信噪比为10 dB、载波频率28 GHz、带宽1.23 GHz、天线规模32的条件下，5G信号感知勉强能够满足多扩展目标SLAM的应用需求。