Simultaneous localization and mapping (SLAM) is a key technology that provides 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-6 GHz communication, thereby providing opportunities for SLAM. However, none of the existing works have realized the SLAM function under the 5G New Radio (NR) standard due to specification and hardware constraints. In this study, we investigate how 5G mmWave communication systems can achieve situational awareness without changing the transceiver architecture and 5G NR standard. We implement 28 GHz mmWave transceivers that deploy OFDM-based 5G NR waveform with 160 MHz channel bandwidth, and we realize beam management following the 5G NR. Furthermore, we develop an efficient successive cancellation-based angle extraction approach to obtain angles of arrival and departure from the reference signal received power measurements. On the basis of angle measurements, we propose an angle-only SLAM algorithm to track UE and map features in the radio environment. Thorough experiments and ray tracing-based computer simulations verify that the proposed angle-based SLAM can achieve sub-meter level localization and mapping accuracy with a single base station and without the requirement of strict time synchronization. Our experiments also reveal many propagation properties critical to the success of SLAM in 5G mmWave communication systems.

翻译：同步定位与地图构建（SLAM）是一项关键技术，能够提供用户设备（UE）跟踪与环境地图构建服务，实现感知与通信的深度融合。毫米波（mmWave）通信凭借更大带宽与天线阵列，天然支持比6 GHz以下通信更精确的时延与角度测量，从而为SLAM提供了机遇。然而，受制于规范与硬件约束，现有研究均未能在5G新空口（NR）标准下实现SLAM功能。本研究探讨5G毫米波通信系统如何在不改变收发架构及5G NR标准的前提下获取环境态势感知能力。我们搭建了部署160 MHz信道带宽的OFDM 5G NR波形的28 GHz毫米波收发器，并遵循5G NR实现了波束管理。进而开发了一种基于高效串行干扰消除的角度提取方法，从参考信号接收功率测量值中获得来波与去波角度。基于角度测量，我们提出了一种纯角度SLAM算法，用于跟踪UE并映射无线电环境中的特征。充分的实验与基于射线追踪的计算机仿真验证了所提基于角度的SLAM仅凭单个基站且无需严格时间同步即可实现亚米级定位与地图构建精度。实验还揭示了在5G毫米波通信系统中对SLAM成功至关重要的诸多传播特性。