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- Ge, Yu, 1995, et al.
(författare)
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5G SLAM Using the Clustering and Assignment Approach with Diffuse Multipath
- 2020
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Ingår i: Sensors. - : MDPI AG. - 1424-8220. ; 20:16, s. 1-31
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Tidskriftsartikel (refereegranskat)abstract
- 5G communication systems operating above 24 GHz have promising properties for user localization and environment mapping. Existing studies have either relied on simplified abstract models of the signal propagation and the measurements, or are based on direct positioning approaches, which directly map the received waveform to a position. In this study, we consider an intermediate approach, which consists of four phases-downlink data transmission, multi-dimensional channel estimation, channel parameter clustering, and simultaneous localization and mapping (SLAM) based on a novel likelihood function. This approach can decompose the problem into simpler steps, thus leading to lower complexity. At the same time, by considering an end-to-end processing chain, we are accounting for a wide variety of practical impairments. Simulation results demonstrate the efficacy of the proposed approach.
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| 4. |
- Ge, Yu, 1995, et al.
(författare)
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A Computationally Efficient EK-PMBM Filter for Bistatic mmWave Radio SLAM
- 2022
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Ingår i: IEEE Journal on Selected Areas in Communications. - 0733-8716 .- 1558-0008. ; 40:7, s. 2179-2192
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Tidskriftsartikel (refereegranskat)abstract
- Millimeter wave (mmWave) signals are useful for simultaneous localization and mapping (SLAM), due to their inherent geometric connection to the propagation environment and the propagation channel. To solve the SLAM problem, existing approaches rely on sigma-point or particle-based approximations, leading to high computational complexity, precluding real-time execution. We propose a novel low-complexity SLAM filter, based on the Poisson multi-Bernoulli mixture (PMBM) filter. It utilizes the extended Kalman (EK) first-order Taylor series based Gaussian approximation of the filtering distribution, and applies the track-oriented marginal multi-Bernoulli/Poisson (TOMB/P) algorithm to approximate the resulting PMBM as a Poisson multi-Bernoulli (PMB). The filter can account for different landmark types in radio SLAM and multiple data association hypotheses. Hence, it has an adjustable complexity/performance trade-off. Simulation results show that the developed SLAM filter can greatly reduce the computational cost, while it keeps the good performance of mapping and user state estimation.
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| 5. |
- Ge, Yu, et al.
(författare)
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A Computationally Efficient EK-PMBM Filter for Bistatic mmWave Radio SLAM
- 2022
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Ingår i: IEEE Journal on Selected Areas in Communications. - Piscataway : IEEE. - 0733-8716 .- 1558-0008. ; 40:7, s. 2179-2192
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Tidskriftsartikel (refereegranskat)abstract
- Millimeter wave (mmWave) signals are useful for simultaneous localization and mapping (SLAM), due to their inherent geometric connection to the propagation environment and the propagation channel. To solve the SLAM problem, existing approaches rely on sigma-point or particle-based approximations, leading to high computational complexity, precluding real-Time execution. We propose a novel low-complexity SLAM filter, based on the Poisson multi-Bernoulli mixture (PMBM) filter. It utilizes the extended Kalman (EK) first-order Taylor series based Gaussian approximation of the filtering distribution, and applies the track-oriented marginal multi-Bernoulli/Poisson (TOMB/P) algorithm to approximate the resulting PMBM as a Poisson multi-Bernoulli (PMB). The filter can account for different landmark types in radio SLAM and multiple data association hypotheses. Hence, it has an adjustable complexity/performance trade-off. Simulation results show that the developed SLAM filter can greatly reduce the computational cost, while it keeps the good performance of mapping and user state estimation. © 1983-2012 IEEE.
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| 6. |
- Ge, Yu, 1995, et al.
(författare)
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Exploiting Diffuse Multipath in 5G SLAM
- 2020
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Ingår i: 2020 IEEE Global Communications Conference, GLOBECOM 2020 - Proceedings.
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Konferensbidrag (refereegranskat)abstract
- 5G millimeter wave (mmWave) signals can be used to jointly localize the receiver and map the propagation environment in vehicular networks, which is a typical simultaneous localization and mapping (SLAM) problem. Mapping the environment is challenging, due to measurements comprising both specular and diffuse multipath components, where diffuse multipath is usually considered as a perturbation. We here propose a novel method to utilize all available multipath signals from each landmark for mapping and incorporate this into a Poisson multi-Bernoulli mixture for the 5G SLAM problem. Simulation results demonstrate the efficacy of the proposed scheme.
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| 7. |
- Ge, Yu, 1995, et al.
(författare)
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MmWave Mapping and SLAM for 5G and Beyond
- 2023
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Ingår i: Integrated Sensing and Communications. - 9789819925018 ; , s. 445-475
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- Device localization and radar-like mapping are at the heart of integrated sensing and communication, enabling not only new services and applications, but also improving communication quality with reduced overheads. These forms of sensing are however susceptible to data association problems, due to the unknown relation between measurements and detected objects or targets. In this chapter, we provide an overview of the fundamental tools used to solve mapping, tracking, and simultaneous localization and mapping (SLAM) problems. We distinguish the different types of sensing problems and then focus on mapping and SLAM as running examples. Starting from the applicable models and definitions, we describe the different algorithmic approaches, with a particular focus on how to deal with data association problems. In particular, methods based on random finite set theory and Bayesian graphical models are introduced in detail. A numerical study with synthetic and experimental data is then used to compare these approaches in a variety of scenarios.
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| 8. |
- Joffrin, E., et al.
(författare)
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Overview of the JET preparation for deuterium-tritium operation with the ITER like-wall
- 2019
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Ingår i: Nuclear Fusion. - : IOP Publishing. - 1741-4326 .- 0029-5515. ; 59:11
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Forskningsöversikt (refereegranskat)abstract
- For the past several years, the JET scientific programme (Pamela et al 2007 Fusion Eng. Des. 82 590) has been engaged in a multi-campaign effort, including experiments in D, H and T, leading up to 2020 and the first experiments with 50%/50% D-T mixtures since 1997 and the first ever D-T plasmas with the ITER mix of plasma-facing component materials. For this purpose, a concerted physics and technology programme was launched with a view to prepare the D-T campaign (DTE2). This paper addresses the key elements developed by the JET programme directly contributing to the D-T preparation. This intense preparation includes the review of the physics basis for the D-T operational scenarios, including the fusion power predictions through first principle and integrated modelling, and the impact of isotopes in the operation and physics of D-T plasmas (thermal and particle transport, high confinement mode (H-mode) access, Be and W erosion, fuel recovery, etc). This effort also requires improving several aspects of plasma operation for DTE2, such as real time control schemes, heat load control, disruption avoidance and a mitigation system (including the installation of a new shattered pellet injector), novel ion cyclotron resonance heating schemes (such as the three-ions scheme), new diagnostics (neutron camera and spectrometer, active Alfven eigenmode antennas, neutral gauges, radiation hard imaging systems...) and the calibration of the JET neutron diagnostics at 14 MeV for accurate fusion power measurement. The active preparation of JET for the 2020 D-T campaign provides an incomparable source of information and a basis for the future D-T operation of ITER, and it is also foreseen that a large number of key physics issues will be addressed in support of burning plasmas.
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| 9. |
- Kim, Hyowon, et al.
(författare)
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5G mmWave Cooperative Positioning and Mapping Using Multi-Model PHD Filter and Map Fusion
- 2020
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Ingår i: IEEE Transactions on Wireless Communications. - 1558-2248 .- 1536-1276. ; 19:6, s. 3782-3795
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Tidskriftsartikel (refereegranskat)abstract
- 5G millimeter wave (mmWave) signals can enable accurate positioning in vehicular networks when the base station and vehicles are equipped with large antenna arrays. However, radio-based positioning suffers from multipath signals generated by different types of objects in the physical environment. Multipath can be turned into a benefit, by building up a radio map (comprising the number of objects, object type, and object state) and using this map to exploit all available signal paths for positioning. We propose a new method for cooperative vehicle positioning and mapping of the radio environment, comprising a multiple-model probability hypothesis density filter and a map fusion routine, which is able to consider different types of objects and different fields of views. Simulation results demonstrate the performance of the proposed method.
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| 10. |
- Kim, Hyowon, 1987, et al.
(författare)
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5G mmWave Vehicular Tracking
- 2018
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Ingår i: Conference Record - Asilomar Conference on Signals, Systems and Computers. - 1058-6393. ; 2018-October, s. 541-547
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Konferensbidrag (refereegranskat)abstract
- Vehicle positioning based on GPS is limited due to multipath and blockage. 5G mmWave signals can provide an attractive complement, as it is possible to estimate the state of a vehicle (position and heading) from transmissions from a single base station. We propose a Bayesian 5G mmWave tracking filter, which explicitly relies on mapping the radio environment. The filter thus solves a novel type of simultaneous localization and mapping problem, which enables estimating not only the vehicle heading and position, but also its clock bias.
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