Opy Right Ha ND G On Za Lo: 5G Localization: Unlocking New Dimensions in Radio-Based Positioning

Chalmers University of Technology
5G Localization: Unlocking new Dimensions in Radio-based

Positioning
h t l o
Henk Wymeersch i g
r on and
Gonzalo Seco-Granados z a
Departmenty
Department of Electrical Engineering
o pEngineeringG
of Telecommunications
Gothenburg, Sweden
, c Autònoma
Systems
n d
https://goo.gl/KbrQEF
i o n a
Universitat de Barcelona
email: henkw@chalmers.se
a t c h
Barcelona, Spain
l i z er s
Email: gonzalo.seco@uab.es
c a e s
o
L W y ad m o
5G nk r a n
e
H co - G
Se With help from Nil Garcia, Gabriel Garcia, Zohair Abu
Shaban, Mike Koivisto, Arash Shahmansoori and others.
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 1

The 5G Positioning Challenge
Base Station (BS)

h t l o
i g
r on z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m
Even when the line-of-sight is blocked?
o s User Equipment (UE)
L W y ad
G k
And build a map of the environment?
5 a n
From the signal receivednfrom a singler
e - G
environment, canH o
base station in an unknown propagation
c
Se
we determine the UE
position, heading, clock bias?
Source: https://makeitcount.blog/singapore-good-to-
know/image-singapore-downtown-street-taxi/
Outline
• Part I: Principles of radio-based positioning

• Part II: 5G positioning
h t l o
– 5G positioning: 5 selling points i g
r on z a
p y
– 5G positioning in cmWave (below 6 GHz)
o
c nd
– 5G positioning in mmWave (above 28 GHz) G E{break}
n , a
i o
– 5G cooperative positioning
t h
i z a s c
• Part III: 5G joint positioning and communication
r
• Conclusions
a l ee
o c m o s
L W y ad
• References
5G nk r a n
e
H co - G
Se
Motivating questions
• What is radio-based positioning?
• How does it relate to other forms of positioning
h t l o
• What are the processes in radio-based positioning?
i
r ong z a
• Can you give examples or radio-based positioning?
p y
•
o
c nd
What is special about 5G in radio-based positioning? G
•
n ,
What are the important applications of 5G positioning?
a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5 G k a n
n
Literature overview:
e G r
5G Wireless H
Klaus Witrisal and
-
Carles Antón-Haro
Systems and o
(eds) “Whitepaper on New Localization Methods for
e c the Internet-of-Things”, COST CA15104 (IRACON); white paper;
S
April 2018.

Outline

h t l o
r on z a
– 5G positioning in cmWave
p y
– 5G positioning in mmWave o
c nd G
n , a
i o
t h
i z a s c
r
• Conclusions
a l ee
o c m o s
L W y ad
• References
5G nk r a n
e
H co - G
Se
Principles: outline
• Measurements
• Performance bounds
h t l o
• Algorithms i g
r on z a
• Mobility
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
Main idea of radio-based positioning

• Waveform conveys information about geometry
h t l o
i g
r on z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l can beeetaken
•
o c m
Different measurements
o s
– Time L
– Signal strength
W y a d
– 5
G k a n
Angle
e n G r
H co
– (Doppler)
-
Se
Example of time-based measurements
h t l o
i g
r on z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 http://www.gps.gov/multimedia/poster/ 8
Signal strength ✓ ◆
d0
Pr = Pt K
d
• Principle
d
– Path loss equation Pr [dBm] = Pt [dBm] + K[dB]
h t l o
10 log10
d0
– Learn parameters from data
i g
r on z a
– Map received power to distance
p y
• Challenges
o
c nd G
,
DURGIN et al.: RADIO PATH LOSS AND PENETRATION LOSS AT 5.85 GHz 1491
– Not one-to-one mapping

i o n a
– Many meters distance
a t c h
uncertainty
i z
l ee r s
a
– More common with
c m s
o
fingerprinting
L W y ad o
5G nk r a n
e
H co - G
Se Fig. 7. Path loss scatter plot for all the residential measurement data (not including data from tree lines).
Durgin, Greg, Theodore S. Rappaport, and Hao Xu. "Measurements and models
© Henk Wymeersch, Gonzalo Seco-Granados,different
2017-2019 for radio
transmitter and path
receiver loss and penetration
configurations, loss in and
average shad- around
Fig. homes
7 presents a and
path trees
loss at 5.85 plot
scatter 9 and
for all indoor
GHz."
owing effects by houses andIEEE
trees,Transactions
and aggregateonpenetration
Communications 46.11
outdoor (1998): 1484-1496.
measurement data. In this scatter plot, all house data
loss into homes. are processed together. Linear regression using a minimum
Time: time of arrival (TOA)

Operation
d
h t l o
s(t) s(t d/c) i
r ong z a
p y
Estimated in the clock of the receiver
c o d G
d
n , a n
⌧ˆ = + B + n
c
t i o h
Challenges
i z a r s c
No medium:
a l before e e
o c
Clock bias must be removed
L/c m
converting to distance
o s
L y
Obstacles: non-line-of-sight
W d ad
(NLOS)
with medium G
5 n k p r an
s(t) e L G
H o - " /c r
s(t d/c)
So extra Weakens
is LOS path,
Induces extraS
c
e L(p" 1)/c for size L, relative permittivity "
delay
or can block completely (large positive range bias)
r r

1 FIM general
Time: two-way TOA

Operation
d Known a priori
s(t) s(t d/c)
h t l o
s(t d/c y
i
Br n
g ) n z a
s(t 2d/c n )
o p UnknownG o
c nd
• Estimated in the clock of the original,transmitter
a priori
i o n a
h
2d
⌧ˆ = +n+ +w
a t s c
z
c
a i
l ee r
Challenges
o c permnode pair os
L Whardware
• Dedicated transaction
y ad
5G nk n
• Relies on dedicated
r a
e
H co - G
Se
Time: time difference of arrival (TDOA)

Operation
h t l o
i
r ong z a
s(t B d /c) i
p y
c ndo G
s(t B)
n , a
• Estimate ⌧ˆ = d /c + B + n
t i o h
y = ⌧ˆ ⌧ˆ , c
i i i
• Differential measurement a s
i z
ldevice ee r i > 0 no longer depends on B
i i 0
c ma
• One transmission per
s
o y o
Challenges L a d
G W
5 tightnsynchronization
k a n
• Requires
e G r among base stations
• Requires central
-
H co of differential measurements is correlated
processing unit
Sedepends on choice of reference base station

• Measurement noise
• Performance

Angle of arrival (AOA) and angle of departure (AOD)

Operation AOA AOD
h t l o
✓ s(t)
i g z a
r on a (✓)s(t
✓
p y H
⌧)
c nd o s(t) G
s(t ⌧ )a(✓)
n , a
t i o h
• Observation depends on a
i z r s
array response c
• For ULA: a (✓) = eal , ke
e
j2⇡k / sin ✓
= 0, . . . , N 1
o c
k
m o s
L W y ad
• Should include additional unknown phase
5 G k a n
Challenges
e n G r
• Requires multiple
-
H co must be known for measurement to be useful
antennas
Se
• Antenna orientation

Principles: outline
• Measurements
h t l o
• Algorithms i g
r on z a
• Mobility
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
Tool: Fisher Information and CRB

Problem: estimate deterministic unknown x from observation z given
statistical model p(z|x)
h t l o
i
r ong z a
The Fisher information matrix (FIM):
p y
J(x) = E {r log p(z|x) r log p(z|x)}
z x
T
x
o G
c ndcarries about the
n ,
measures “the amount of information the observation
a
unknown”
t i o h
i z a
FIM relates to estimationlerror r s c
c ma e e
covariance
s
o
T 1
E{(x x̂)(x x̂) }
Lestimator
⌫ J
y
(x)
d o
of any unbiased
G W x̂(z)
n a
5 n k r a
H e
Cramér-Rao bound:
-
lower G
bound on estimation error variance
o
E{||x x̂||c} tr(J (x))
2 1
Se
r
xtra is
h medium ⌘= [⌧ T
, ↵ T T
] Chalmers University of Technology
a✓b
FIM general 
p J⌧ p ,⌧ " /c J⌧ ,↵
J(⌘) L(= "r LT1)/c
FIM: more topics J⌧ ,↵ J↵,↵
r
So extra is z = m(x) +n
1
J(⌧ ) = JFIM Ja⌧✓,↵ J↵,↵ JT
IM general • Equivalent ⌧ ,⌧ ofa
p
b
sub-vector: ⌧ ,↵
L( "r 1)/c
AT T B
h t l o
J(x1z, = ⌘˜2m(x)
x ) =[xT+
= , vn
BT C
] invert
i g
r on z a
FIM general J (x1 ) = A J(⌧
EJ( ˜
⌘) = T T
)T
BT C 1 B
p y
T = r⌘˜ ⌧ (⌘) ˜ 2R
A B2L⇥L o
c nd G
CRB for estimation
J(xz1 ,=x2m(x)
) = + n,
BT TnC⇠ CN (0, ⌃)
n , a
⌘˜ = [x]
J (x1 ) = A TBT C 1 B
E
t i o h
J(x) = T J(⌧ )T
invert
i z a r s c
J(x 1 , x 2 ) =
A B
a l ee
• Gaussian
RB for estimation T =noise
j
rx ⌧ (x)
r = e Ea(✓)s + n
case 2BRisT2⇥L
easier:
C
o c m o s
z = m(x) J (x+1 )n,=nA⇠ CN BT(0,C⌃) 1
B
L W y ad
5G nk n
a(✓) = [1 ej⇡ sin ✓ . . . ej⇡(N 1) sin ✓ T
]
J(x)
J(x)== < <rxrm(x)⌃ H 1 H1
r m(x)
x m (x)⌃ x rx m(x)
r a
r = ej a(✓)s ⌘+ = n[ ✓]T
e
H co
• Transformation of variables: given injective mapping ⌘ = f (x)
- G
CRB fora(✓)estimation j⇡ sin ✓
eej⇡(N 1) sin ✓ T
sha1_base64="(null)">(null)</latexit>
sha1_base64="(null)">(null)</latexit><latexit
<latexit
= [1 = em( j
, ✓). .=
.T a(✓)s ]
Se
J(⌘) TJ(x)T , [T] i,j = @⌘i /@xj

<latexit
j
D(✓)a(✓)e
T js
OA r⌘ m( , ✓) ⌘= = [ ✓] j
je a(✓)s
j
m(
© Henk Wymeersch, ,e✓)
Gonzalo =e + a(✓)s2017-2019
j Seco-Granados, 16
D(✓) = diag(0, ⇡a(✓)s
r = cos ✓, . . .n, ⇡(N 1) cos ✓)
j j⇡ sin ✓ j⇡(N 1) sin ✓ T
•
•
<latexit
<latexit
<latexit sha1_base64="(null)">(null)</latexit>
<latexit
•
E
E
• FIM
T=
EFIM
2
1
Example
J (x ) =
J (x ) =
1
G
<latexit
J(x) = 2
H
1
1

2
2
0 e
⌘=
Problem z =
Se
Transformation


cos x 2
T
5 1 n0 k
0 1
1 1
(1 c
J(⌘) = TJ(x)Tc =
x1
1 1
1 0
a

sin x2
2
-
W
i

1
1
z
G
(2 1 ⇥ 1 ⇥
1 1
1 0
r
a1)
t
a
i
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019

2
=
1 ⇥ 2 ⇥ 1)e =
=
n
o
1
1
2
a
2
n
2
r

2
s
cos x cos x
2
o y m 2 do
x + n, n ⇠ N (0,
2
c
e1 s
1
2
h
1co
I)
2 1 p
o 1 2 cos x = 1 2
y
n

r i
d
g h
G
2
t
o
cos arcsin ⌘
n
2
z a l o
2
2
1 ⌘
Depends on the value of the unknown
2 cos arcsin ⌘
17
X sH a(✓)aH (✓)DH (✓)st
X sH a(✓)aH (✓)DH (✓)st J(✓, ) = t
t 2 2University of Technology
J(✓, ) = 2 t Chalmers
t
2
J( , ) =
J( , ) =
Example: CRB on time delay estimation
2.3 TD2
TD2
• Model for OFDM with N subcarriers, unknown ⌘ = [⌧ ]T
t
j
r = ej a(⌧ )rr==see+j a(⌧ na(⌧)r) =sse+
o
j n
h l
✓✓ + a(⌧
n◆ ) s + n
✓ ◆
g a
✓◆ ◆
i
k⌧ k⌧
[a(⌧ )]k = exp [a(⌧
[a(⌧)])]rkj2⇡=
k =N
j
= eexp
exp
[a(⌧
y
T✓
r on
a(⌧)])kj2⇡
s z =s N
j2⇡
k⌧
+Tn j2⇡
exp
N Tss◆
k⌧
N Ts
[a(⌧m(⌧,)]k = )exp
o=p e
G
j j2⇡
j a(⌧ )N Ts j
k⌧ 5
c nd
• Mean and derivative: m(⌧, ) = m(⌧, e a(⌧ ) =sse a(⌧ ) s
r⌘ m(✓, ) =m(⌧,
5⇥
n
ej ȧ(⌧ , )=
a
 j a(⌧
) e s eje

j j )a(⌧s) ejs ȧ(⌧
ȧ(⌧ ) s 2 C
⇤ N ⇥2
i o
r⌘ m(✓, )r=⌘ m(✓,j ) =
t h
) s
s j a(⌧ ) s
c
j2⇡  je a(⌧ ) je
[ȧ(⌧ )]k = k
i z a
r⌘ m(✓, N)T=
r s
j
[a(⌧e)]k ȧ(⌧ ) s
jj2⇡ j2⇡
l ee
s
[ ȧ(⌧ )] = [je
ȧ(⌧
k )]a(⌧ =) )]
k [a(⌧ ksk [a(⌧ )]k
a
 4⇡ P 2 N2Ts k P
N T
• FIM
c m
2⇡ s 2
s
k k |sj2⇡ k| k k|sk |
1
o
(N Ts )2 P P N Ts P
o
J(⌘) = 2  [ȧ(⌧ 2⇡
4⇡ )]k P = k24⇡ 2 2 [a(⌧k)]22⇡ k|s P | 22 2⇡2
k|sk |2
L W y ad
1 1 k k|s
k(N |s
N
k
T |kT
) |
2s k ksk
k k k|sN k T| k
J(⌘) = 2 J(⌘) =2⇡ (N NT T
s )
s 2
P k s P N T s s
 4⇡2N T P 2" 2⇡2
k|s
P P|2 2 2 22 # ksk2
5G nk
k|s | ksk
n
k
N T k 2⇡ k
4⇡Ts )2 sP"X k 2 2
E = 1 k k |s2k | 2" N Ts k k|s k| k| #
k k|s
s
a
J(⌘) (N P #
J (⌧ ) =2 2 k 2|s k| X P 2 2 2 2
r
2⇡ 2 2 2
• EFIM (N TsT)s kX
4⇡(⌧ 2 2 k|s4⇡k | kskksk 2 k|
k|s k k|sk |
J E (⌧for
) = delay
G
JE ) =" k2 k 2 |s2k |2 + k 2 |s
N
e k| + #
k
-
2 (N T )2 (N Ts ) P ksk2 2 2 ksk2
H co X
2 s
k k|sk |
4⇡ k 2 k
TD: J E (⌧ ) = 2 k |s k | 2
(N Ts )2 ksk2
Se
TD: TD: k
r = ej a(⌧ ) (1/T
• More bandwidth s + sn) is better, more energy in boundary subcarriers
TD: ✓ j ◆) s+n
is better r = ej a(⌧ r) = sek⌧ + a(⌧n✓◆, k = N◆+ 1, . . . N
[a(⌧ )]k = exp ✓ j2⇡ k⌧ 2N
© Henk Wymeersch, rGonzalo
= e j Seco-Granados,
a(⌧
[a(⌧ )
)] =s N+
exp Tns 2017-2019
k⌧ j2⇡ , k = 2N
N + 1, . . .
N 18
[a(⌧ )]k = exp✓ kj2⇡ ,k= N Ts 2 + 1, . . . 22 2
N Ts◆
k⌧ N N
FIM general2 AOA
CRB for
BT estimation
C
H H 1
J(x) = <= r
E J(x) < xm
r (x)⌃
Tm (x)⌃
1 rx1m(x)
rx m(x)
AOA J (x ) = A B
z = m(x) + n
1 x C B Chalmers University of Technology
r = ej a(✓)s + n
J(x) = < rx mH (x)⌃ 1 rxrm(x) j
2 2 CRB
CRB for
Example: CRBfor estimation
estimation
on AOA estimation
= e
a(✓) a(✓)s
= + sin
[1 ej⇡ n ✓ . . . ej⇡(N
1) sin ✓ T
]
CRB for estimation a(✓) = [1 ej⇡ sin ✓ . . . ej⇡(N 1) sin ✓ ]T
AOA
AOA ⌘ = [ ✓]T
OACRB for estimation T
• Model for AOA
j
with unknown ⌘m(
j
✓] = eand
= [ , ✓) j N receive antennas
a(✓)s
r =re= a(✓)s e a(✓)s + n+ n
AOA
t
r = ej a(✓)s + n j
a(✓)a(✓)= [1
j⇡ sin ✓= e j⇡ sin
[1 e . .
g h
j⇡✓sin ✓ j⇡(Nj⇡(N
. e.
. . .nej⇡(N 1) sin ✓ ]⌘T
.
a l.
oe
m( ,
r m( ,✓) =
✓)
]
= e
]
a(✓)s
T ✓ T D(✓)a(✓)e js
1) sin1)✓ sin
j
i jejj a(✓)s
a(✓)r == [1 eje a(✓)s +
• Mean a(✓) =and sin ✓ ⌘ =
[1 ej⇡⌘derivative:
y
j⇡(N r on
⌘[ =✓] z
r⌘Tm(T , ✓) =
[1) sin
D(✓) ✓] ✓=]Tdiag(0, ⇡ cos
D(✓)a(✓)e
jej ✓,a(✓)s
js
. . . , ⇡(N 1) cos ✓)
p
= [ ✓]. . . eT
m( m(
m( ,⇥⌘✓)==[ e ✓] o
c nd

,=✓)ej=
,j✓)D(✓)
a(✓)s
T G = a(✓)s j
ediag(0,

a(✓)s⇡ cos ✓, . . . , ⇡(N 1) cos ✓)
, |s|2 j j kD(✓)a(✓)k ⇤ 2 H
Nr ⇥2 a (✓)D(✓)a(✓)
n
r⌘ m( r  D(✓)a(✓)e
j js 2 CNr ⇥2
=J(⌘)
a
, ✓)m(= D(✓)a(✓)e
, ✓)= =jsj 2je a(✓)s H 22 C H ka(✓)k2
o
⌘m( , ✓) D(✓)a(✓)e
e j
|s|
a(✓)s2 2 js
j kD(✓)a(✓)k a (✓)D(✓)a(✓) a (✓)D(✓)a(✓)
i
r⌘ m( , ✓) =J(⌘) = j je a(✓)s
h
" 21) cos ✓) #
D(✓) = diag(0, ⇡je
D(✓) =
a t
D(✓)a(✓)e
diag(0,
s
cos
c 2
⇡
j 2a(✓)s
✓,
cos
. .
js|s|
.
a
" .N
✓,
,H⇡(N
2 (✓)D(✓)a(✓)
.2. ,C⇡(N
⇡ (2N
Nr ⇥2 1) cos
1)(N
6 ✓)
1)ka(✓)k
cos 2
✓
2
⇡(N 1) cos#✓/2
r
•D(✓)
⌘ m(
FIM , ✓)
= diag(0, =
 ⇡ cos
i z
l ee
je✓,
r
j . . . , ⇡(N
a(✓)s
|s| 2
=
N 2H ⇡21)(2N
2
cos ✓)⇡(N
1)(N 1)1) 2
coscos✓ ✓/2
⇡(N 1) cos ✓/21
a
2 = 2
|s| 2 kD(✓)a(✓)k 2 2 a (✓)D(✓)a(✓)
6
J(⌘) =
c m s
2 ⇡(N 2 1) cos ✓/2 1
|s| H
D(✓)  = diag(0, H ⇡ kD(✓)a(✓)k
cos ✓, . . . , ⇡(N a1) (✓)D(✓)a(✓)
cos ✓)
o
2 a (✓)D(✓)a(✓) ka(✓)k
o
|s|J(⌘)
2 =
kD(✓)a(✓)k 2 H
a (✓)D(✓)a(✓)
2" aH (✓)D(✓)a(✓) 2
# (2N 1) (N 1)
L W y ad
J(⌘) = 2 ka(✓)k 2 2
H |s| 2 N (N 1)⇡ cos (✓)
2 2  |s| N 2 ⇡"(2N #
2 2
2 a (✓)D(✓)a(✓)
2 1)(N
JE (✓) ka(✓)k
1) cos ✓
= 1) cos2 ⇡(N 1) cos ✓/2

5G nk
|s| = " kD(✓)a(✓)k 22 (2N H
n
⇡ a 1)(N(✓)D(✓)a(✓) ✓ #
J(⌘) = |s|22 N =H⇡2|s| N E 6 2
4cos (✓)
2
2|s| N (N 1)⇡⇡(N2 2
1) cos (2N ✓/2 1) 3 (N 1) 2
⇡(N
a 1) cos
2
(2N 1)(N J (✓)1) cos
= ✓ 6 ✓/2 2 1
a (✓)D(✓)a(✓) ka(✓)k
r
= 2 6 ⇡(N 1) ⇡(N
cos 2
|s|✓/2 1)2 cos1)N
N4 (N ✓/2 + 1# 1⇡ 2 cos 3 2 (✓) 2
"
e G
22 2 ⇡(N
2 1) cos ✓/2 2 = 1
|s| N ⇡ (2N 1)(N 2 1) cos |s| ✓2 22
- |s| N (N 1)(N N (N
⇡(N + 1)⇡ 2 cos
1)N
1) cos + 24
2✓/2
1⇡
(✓) cos 2
(✓)
=• Equivalent
2
E
J (✓)
H co
⇡(N
J E = FIM 6
|s|
(✓) =1) cos ✓/2
for
2
N= (N

AOA 1)(N
12 2 2 124 2
+ 1)⇡ 2
cos 2
(✓)
Se
12
E |s|2 N (N 1)⇡ 2 cos2 (✓) (2N 1) (N 1)
J (✓) = |s|42 N2 (N 1)(N + 1)⇡ 2
cos2 (✓) 2
E
J (✓) = 12 1 3 Nice
|s|2 N (N 1)N + 1⇡ 2 cos2 (✓) 12 scaling
= 1
© Henk Wymeersch, Gonzalo 24 2Seco-Granados, 2017-2019 19
1
1
2 2
12
AOA Chalmers University of Technology
2.1 |s|
AOD2
2 2
⇡ N (N 1)
J(✓ = 0) = 2 r = ej a(✓)s + n
Example: CRB on AOD estimation
rT = ej aH (✓)S + nT a(✓) = [1 ej⇡ sin ✓ . . . ej⇡(N 1) sin
AOD2 r = ej ST a⇤ (✓) + n
• Model for AOD, with T transmissions, N transmit antennas, unknown ⌘ = [ ✓]T
j
SH a(✓) + n
rT = ej aH (✓)S + nT
t
r=e m( , ✓) = ej a(✓)s
r = ej ST a⇤ (✓) + n
g h a l oj
SH a(✓) 2 CT ⇥1 
i
m(✓, ) = e
z
D(✓)a(✓)ej js
• What is the CRB? 
y r on r⌘ m( , ✓) =
jej a(✓)s
r = e j SH a(✓) + n
•m(✓, ) = e j SH a(✓) 2rC⌘Tm(✓, )= p
je j SH D(✓)a(✓)
o G 2 CT ⇥2 D(✓) = diag(0, ⇡ cos ✓, . . . , ⇡(N 1
How would you derive an estimator?, c

Can T be 1? jej SH a(✓)
d
⇥1
•
 
o n a n |s| 2

kD(✓)a(✓)k2 aH (✓)D(✓)
r⌘ m(✓, ) =
je j H 1
S D(✓)a(✓)
J(⌘) = 2
a t
C
H
i
kS TD(✓)a(✓)k
⇥2
c h
2 H J(⌘)
H =
<{ a (✓)SS D(✓)a(✓)} 2 2 a H
(✓)D(✓)a(✓) ka(✓)k 2
s
jej SH a(✓)
2 <{ aH (✓)SSH D(✓)a(✓)} kSH a(✓)k2 " 2

i z
l ee r 2
|s| N ⇡ (2N 1)(N 1) cos2 ✓
⇡(N
a
1 2 H
 kḃ(✓)k <{ b (✓)ḃ(✓)} = 6
c m
= 2 2 2 ⇡(N 1) cos ✓/2
1
⌘) = 2
kSH D(✓)a(✓)k2 <{ <{
o
aH (✓)SS
b (✓) ḃ(✓)}
o s
H H D(✓)a(✓)}
kb(✓)k 2

<{ aH (✓)SSH D(✓)a(✓)}
L W y ad kSH a(✓)k2 !

5G nk n
H 2
1 kḃ(✓)k2 <{ bH (✓)ḃ(✓)}
E 1 2 <{b (✓)ḃ(✓)} E |s| 2
N (N 1)⇡ 2
cos 2
(✓) (2N 1
a
= 2 J (✓) = k ḃ(✓)k J (✓) =
<{ bH (✓)ḃ(✓)} kb(✓)k2
e G r 2 2 kb(✓)k2 4 2
|s|2 N (N
3
1)N + 1⇡ 2 cos2 (✓)
-
!
E
J (✓) =
1
H co 2
kḃ(✓)k
<{bH (✓)ḃ(✓)}2 =
24 2
Se
2 2 kb(✓)k2
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 3 20

1
1 kS D(✓)a(✓)k <{2 a (✓)SS D(✓)a(✓)} 2
J(⌘) = 1H 12 2HkSH D(✓)a(✓)k <{
H a H
2(✓)SS H
D(✓)a(✓)}
2J(⌘) <{ = a2 (✓)SS D(✓)a(✓)} kS a(✓)k H
 2.1 AOD2
H
<{ a (✓)SS D(✓)a(✓)} H
kSAOA a(✓)k2 Chalmers University of Technology
1 2 ⇡22 N (N <{
kḃ(✓)k
|s| 1)
H
2 b (✓)ḃ(✓)}H
= J(✓
2 =<{
1
0)==bH (✓)ḃ(✓)} kḃ(✓)k <{ b (✓)ḃ(✓)}
2 H kb(✓)k 2
2
r = ej a(✓)s + n
Example: 2
CRB
<{ b on (✓)ḃ(✓)} AOD rT = estimation
kb(✓)k
ej aH (✓)S ! +n
T
a(✓) = [1 ej⇡ sin ✓ . . . ej⇡(N 1) sin
AOD2 1 <{bHr(✓) ḃ(✓)} 2 !
E 2 = e j
S Ha⇤ (✓) + n2
T
J (✓) = E2 kḃ(✓)k 1 2 <{b (✓)ḃ(✓)}
• Model for2JAOD, (✓) =with2 T ktransmissions,
ḃ(✓)k
kb(✓)k2 N 2transmit antennas, unknown ⌘ = [ ✓]T
2 j kb(✓)k
SH a(✓) + n
t
T j H T r = e
— r = e a (✓)S + n m( , ✓) = ej a(✓)s
— j T ⇤ b(✓) = SH a(✓)
g h a l o
H e j SH a(✓) 2 CT ⇥1

i
• Mean and aderivative:
r = e S (✓) + n m(✓,= )S=
z
b(✓) a(✓) D(✓)a(✓)ej js
h
y r on  i
r⌘ m( , ✓) =
jej a(✓)s
p
j H 
rr⌘= e )S=a(✓) j+ n 2 je j b(✓) j ⇥2
CHTD(✓)a(✓)
G
m(✓, e R(jx ḃ(✓) j je 2 S
o
R(jz) = +
r m(✓, j y) =
)= e Im(u)ḃ(✓) 2 CT ⇥2 D(✓) = diag(0, ⇡ cos ✓, . . . , ⇡(N 1
H CT ⇥2
c nd
j Hr⌘ m(✓,⌘ T )⇥1 = je j 2
S a(✓)
m(✓, ) = e S a(✓) 2 C 2 je j
b(✓)
R(jz) = R(jx
• FIM : R(jz) = R(jx + j 2 y) = Im(u) +
n , j y)
a
= Im(u)
2

o
   |s| kD(✓)a(✓)k2 aH (✓)D(✓)
r⌘ m(✓, )J(⌘)
= = J(⌘)
j H
je 1 S D(✓)a(✓)
=
a t i 2
c h
k1ḃ(✓)k kS TD(✓)a(✓)k
2 C
H
⇥2={b
3
H 2 H
(✓)ḃ(✓)} <{ a (✓)SS D(✓)a(✓)} J(⌘)
H =
2 2 a H
(✓)D(✓)a(✓) ka(✓)k 2
s
2je j S={b H 2H
a(✓)(✓) <{ aH (✓)SSH D(✓)a(✓)}
kb(✓)k 2 kSH a(✓)k2 " 2
z
ḃ(✓)}
i r
1  kḃ(✓)k 2 H
={b (✓) ḃ(✓)} ⇡ (2N 1)(N 1) cos2 ✓
l ee
 2
J(⌘) = Large |s| N ⇡(N
a
2 1 when 0 signature
1H 2kḃ(✓)k 2 Large
H <{ 1when
H =
kḃ(✓)k ⇣ ={b 2⌘
(✓) 2b (✓)ḃ(✓)}
ḃ(✓)} 6
 ={b (✓) ḃ(✓)} kb(✓)k
c m
J(⌘) = = 2AOD 2 2 ⇡(N 1) cos ✓/2
s
varies22 across H H (✓)ḃ(✓)} beaming in AOD
1 kSH D(✓)a(✓)k <{ H<{a H H={b
(✓)SS
b (✓) D(✓)a(✓)}
ḃ(✓)} 2kb(✓)k 2
o
={b (✓) ḃ(✓)} kb(✓)k
o
⌘) = 2 1 B
0 kḃ(✓)k2 ⇣H C
J E (✓) ⌘2 1
L W y ad
H =
<{ a •H (✓)SS
EFIM for 2AOD
D(✓)a(✓)} 2 @0 kS a(✓)k
⇣
2
kb(✓)k
H 2
⌘
A
1 !
 1 ={b (✓) ḃ(✓)} 2 
5G nk
B C
n
H 2
1 kḃ(✓)kJ2E (✓) = <{ 1b@Hk(✓) ḃ(✓)k E
2
ḃ(✓)} 1
={b H
(✓) ḃ(✓)} 2 AC<{b (✓) ḃ(✓)} |s| 2
N (N 1)⇡ 2
cos 2
(✓) (2N 1
a
= 2 E 2 2 B J (✓)2 = kb(✓)kk ḃ(✓)k
2 J E
(✓) =
r
2 @kḃ(✓)k 2 2 2 kb(✓)k2
<{ bH (✓) J H(✓)
ḃ(✓)}
<{b = kb(✓)k 2H 2 A 4 2 3
(✓)ḃ(✓)} 2 2  |b (✓)ḃ(✓)|  kb(✓)k kb(✓)k2kḃ(✓)k
When
2.2 J AOD
E
(✓) = 2<{bkḃ(✓)kH
e
H co
b(✓) is1 a constant2 vector,
- G<{b
2
Hthen b (✓)
(✓)
H
H
!
ḃ(✓)}2 ḃ(✓)
(✓)ḃ(✓)}  |b (✓)2ḃ(✓)|  kb(✓)k kḃ(✓)k 2 2
=
|s|2 N (N 1)N + 1⇡ 2 cos2 (✓)
24 2
Se
• 2T be at least twokb(✓)k when both channel phase and gain are unknown
<{bH (✓)ḃ(✓)}2  |bH (✓)ḃ(✓)|  kb(✓)k2 kḃ(✓)k2
2.2 AOD • Careful design rT = of ej beams
aH (✓)S + nT
r = ej ST a⇤ (✓) + n
rT = ej aH (✓)S
© Henk Wymeersch, Gonzalo Seco-Granados, + nT
2017-2019 3 21
r = e j j SHTa(✓) 1
⇤ +n
Example: AOD estimation
• Using maximum likelihood r = ↵SH a(✓) + n
(ˆ
h t
ˆ = arg min kr
↵, ✓)
l o↵SH a(✓)k2
i g
r on
|
z a {z
d(↵,✓)
}
p y
= 0 implies
G
@d
@↵
o
c nd aH (✓)Sr
n , a
↵
ˆ (✓) =
kSH a(✓)k2
,
t i o h
which can be substituted so that
i z a r s c
a l ee ˆ aH (✓)Sr
✓ = arg min d( H , ✓)
o c m o s
kS a(✓)k2
L W y ad
5G nk r a n
e
H co - G
Se
Example: estimating AOD and AOA

• Log likelihood log p(r|✓) for 16 antennas ULA, T=3 transmissions, high
SNR
0
h t l o
• Prior valuable
i
r on g z a
y
-100
o p G
, c nd -200
Log likelihood function

i o n a
t h
-300
i z a r s c
l ee
-400
a
c m s
o
L W y ad o -500
5G nk a n -600
e G r AOD log likelihood function
-
AOA log likelihood function
H co
-700
Se
-800
-2 -1.5 -1 -0.5 0 0.5 1 1.5 2
trial value
Angle trial value

✓ ◆
k⌧ N N
[a(⌧ )]k = exp j2⇡ ,k= + 1, . . . Chalmers University of Technology
N Ts 2 2

@a(⌧ ) s j2⇡
CRB for @⌧positioning
k
= k
N T s
e j2⇡k⌧ /(N Ts )
sk
• Generally 1 onX
N
processed
2
j2⇡ measurements
2 (distance or angle)
j2⇡k⌧ /(N Ts )
t
J(⌧ ) = k e sk
• Sometimes2 2 based
k= N +1
on Nwaveform:
T s “Direct
g h a l o
positioning”
i
2
• Example: 1 agent ranging with M anchors
• 1 2⇡
Performance
2 X
N
2
measure:kposition
2 2
y r on (x))/Nz
error bound (PEB) P = tr(J
p
1
p
= 2 |sk |
G
(N Ts )2
• FIM k= N2 +1
o
c nd
n ,
r = f (x) + n
a
zm = kx x k + n m
t
m
i o h
i z
p a r s c
rx kx
a l
xm k = rx
e e
(x xm )2 + (y ym )2 X 1 x x (x x )
M
m m
T
c
J(x) =
o =
1
m o s
rx (x xm )2 + (y 2 ||x x || ||x x ||
ym ) 2 m=1
2
m m
L W y ad
2kx xm k
5G nk
x xm
=
kx xm k
r a n
Optimization e
H co - G
SOCP
Se minimize k"k2
x,z,"
s.t. kx xk2017-2019
© Henk Wymeersch, Gonzalo Seco-Granados, k = zk 24
|z r |"
Position error bound

p
• 3 anchors, visualize PEB P = tr(J 1 (x))/N
for different positions
h t l o
g a
PEB TOA [m]
i z
10
y r on
p
8
o G
0.4
, c nd
4
i o n a 0.35
a t c h
z s
2
a i
l ee r 0.3
Y [m]
o c m o s
L W y ad
−2 0.25
5G nk n
−4
r a 0.2
e G
−6
−8
H co - 0.15
Se
−10
−10 −8 −6 −4 −2 0 2 4 6 8 10
X [m]

Principles: outline
• Measurements
h t l o
• Algorithms i g
r on z a
• Mobility
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
N
k= 2 +1
N
2 X
2 Chalmers University of Technology
12⇡
= 2 k 2 |sk |2
(N Ts )2
Estimation basics k= N
2 +1
• Observation model r = f (x) + n with Gaussian noise

• Least squares (LS) estimator
h t l o
Optimization x̂ = arg min kr f (x)k 2
i
r ong z a
y
x
SOCP• Maximum likelihood (ML) estimator
o p G
x̂ = arg max p(r|x)
x
, c nd
k"k S n(r f (x))a
= arg maxminimize
(r f (x))
t i o h
T2 1
c
x x,z,"
• Maximum a posterioris.t.
i z a
(MAP)
kx x
r
k s
estimator
= z
a l |z eer |  "
x̂ = arg max p(x|r)
k k
= argo c (r fm x
(x)) S (ros
k
T
k
1
k
SDP L W y ad
max
x
f (x)) + log p(x)
5 G k
generally r a n
• Optimization
e n G not convex
H minimizeo - " X N
e c x,"
k
S s.t. (kx x k r ) = "

k=1
2
k k k

d2 = (xk x)T (xk x)
Localization algorithms
• Typically layered Prior
information
Waveform Estimate channel Convert to
h t l o
from source 1 parameters
i
r on g
distance / bearing
z a
Positioning unit Position
p y estimate
Waveform Estimate channel
o
Convert to
c nd G
,
from source 2 parameters distance / bearing
i o n a
• Direct positioning
a t c h Prior
Waveform
i
l eez r s information
from source 1
a
c m s
o
L W y ad o Positioning unit Position
estimate
5G nk n
Waveform
from source 2
r a
• e
H ccan
Prior information
- G
provided in tracking mode (see later)
o also be used for channel parameters
Se
• Prior information

Example: ML positioning
• Well-behaved cost function

20
h t l o
i g
r on z a
15
p y
10
o
c nd G
n , a
5
t i o h
i z a r s c
l ee
0
Y
a
c m s
o−5
L W y ad o
5G nk n
−10
r a
e
H co
−15
- G
Se
−20
−20 −15 −10 −5 0 5 10 15 20
X

Example: ML positioning
• But relies on good anchor placement (see CRB)

20
h t l o
i g
r on z a
y
15
o p G
10
, c nd
5
i o n
uncertainty a
a t c h
0
i z r s
Y
a l ee
o
−5
c m o s
L W y ad
5G nk n
−10
r a
e G
−15
H co
−20 -
Se
−20 −15 −10 −5 0 5 10 15 20
X

s.t. [xks.t. 1][xk T 1] = vk = vk
x y xT y1 1
vk + rk2 vk 2u
+ krrk2k =2u
"kk rk = "k Chalmers University of Technology
u2k = vku2 = vk
k
Solving
y = the
xT xy =LS
xT x
problem
• Consider avsystem
u2 v with
2
one agent, TW-TOA. Measurements
u
rk = kx xk k + nk
h t l o
i g
r on z a Too short, so
y
gradient pushes
LS
3 estimation
• LS cost function
LS estimation X
o p G
away
fLS (x) = (rk X
fLS (x) =
, c nd
kx xk k)2
(rk kx xk k)2
k
i o n k
a
• Gradient descent: X
a t
r(rkXkx xk k)2
c h
x̂(k) = x̂(k 1) ✏rfLS (x̂(k 1) )
rfLS (x) =
rfLSk(x) =
i z
l ee r s
r(rk kx xk k)2
a
c m
X k
s
x xk
Es
= 2 (rk Xkx xk k)2
o
x x
o
1/2 Current
rkx kx xk k = rx (x xk )2 + (y yk ) 2
tim
= 2 (r kx kx xk x
k)kk
L W y ad k k guess
kx xk k
at
1 1/2
G
k
ed
n
= (x xk )2 + (y yk )2 rx (x xk )2 + (y
Mobility 5 k a Recall from CRB2
ra
4 Mobility n r x xk
ng
1/2
rx kx xk k = rx (x xk )2 + (y yk )2
e G
e
kx xk k
del
Model H o -
• Needs an initialcestimate
=
1
2
(x xk )2 + (y yk )2
1/2
rx (x xk )2 + (y
Se
x xk
xt = Ft xt 1 + Bt ut + wt , wt ⇠ N (0, Qt ) =
kx xk k
xtt )=+Fvttx, tvt1 ⇠
yt = h(x +NB(0, +t )wt , wt ⇠ N (0, Qt )
t utR
yt = h(xt ) + vt , vt ⇠ N (0, Rt )
http://trond.hjorteland.com/thesis/img208.gif
p(xt |y1:t )
J(⌧ ) = 2
k e sk s.t. kx xk k = zk
2 T
k=0
Chalmers
|zk rkUniversity
|  "k of Technology
N
X1
k 2 4⇡ 2
1 2
= 2 |s |
T 2SDP
k
Point estimators
2 through
k=0
convexification
• LS reformulations N
X
minimize k"k2
x,z,"
minimize
x,"
h t "k
l o
s.t. kx x k = z
r i g k=1
z a
k k
p y
s.t. (kx x k
o n
r ) =" k k
2
k
|z r |"
k k k
o G
Nonlinearcequality constraint
,d = (x n x)d(x
n a
2 T
x)
Relax circle to disk kx x k o
k k k
•
a t ik
c
k
=h
z leads to second
x x + x order
T
x cone
x x program
T
x x T T
s
k k
z
k k
a l i e r
Let
e
T
o c y = x
m
x
o s
L Wy add = [x 1] xI xy x 1  
5G nk
2 T 2 k
r a n k k T
e - G
solver H
• Can be solved efficiently. Solution can be initial guess for gradient LS
c o
S e 8

x,z,"
s.t. kx xk k = zk Chalmers University of Technology

|zk rk |  " k
Semidefinite programming relaxation
SDP
• LS reformulation
t
N
X
minimize "k
g h a l o
i z
x,"
k=1
s.t. (kx x k r ) = " 2
y r on
k k
o p G
k
c
• Can be expressed as
X N
n , n d
2
dminimize
k= (x x) (x
"
= x x + x x x x xtix
k
T
x)
k
k
o h a
c
x,y,v,u,"
 a
T T T T Not convex. Relax
s
k k=1
z
k k k

1]li r to SDP constraints
Let y = xT x s.t. [x
c
a
T
k x
I
 e
x
y e x
1
2
s
T=v
v
k
u ,y x x
k 2 T
d = [x L1]
2 v
T
o+ Ir x2u m
y 1 ad
r 2
x= "
2k o k k k
k k
xW
k k
5G nuy =k=xv x ran

k k T
2 y
k k
e - G
H c8o but more complex
T
Se v u
• SDP generally tighter
2 P. Tseng, “Second-order cone programming relaxation of
sensor network localization,” SIAM J. Optimization, vol. 18,
no. 1, pp. 156–185, Feb. 2007.

Positioning with belief propagation

• Suitable for distributed and large scale implementation
• Factorize joint distribution
h t l o
1
p(x1 , x2 , xa , xb , r12 , r1a , r1b , r2a , r2b ) = p(x1 )p(x2 )p(xa )p(xb )
Y A i g
r on 2 z a B
⇥ p(r12 |x1 , x2 ) p(rji |xi , xj )
p y
o
crun message
i2{a,b},j2{1,2}
d G
, n
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•
i o n
Create Bayesian graphical model and
a
passing Multiply
h
independent sources
90
a t s c of information
i z
l ee r
a
node 1
80
o c m o s
70
L W y ad node 2 node 3
5G nk n
y [m]
60
r a
node 4
e
H co
50 - G node 5 Compute “extrinsic”
Se
marginals
40
0 10 20 30 40 50
x [m]
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 Erik B. Sudderth et al, “Nonparametric Belief Propagation”, in 34
Communications of the ACM, Vol. 53 No. 10, Pages 95-103
Principles: outline
• Measurements
h t l o
• Algorithms i g
r on z a
• Mobility
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
2 Mobility Chalmers University of Technology
Model Dynamical model

• Discrete time evolution of the position
xt = Ft xt 1 + Bt ut + wt , wt ⇠ N (0, Qt )
h t l o
yt = h(xt ) + vt , vt ⇠ N (0, Rt )
i
r ong z a
•
y
Tracking algorithm maintains distribution of the state
psamples)G
p(x |y
t )
1:t
•
o
cmodel: Kalman
Form of distribution varies (e.g., Gaussian or
d
•
n ,
Optimal tracking for linear observation
a n filter
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
H coe - G
• Nonlinear S e
observation:
Source: Wikipedia
extended Kalman filter, particle filter, etc

At time k 1 yt =p(x
h(xt |y +)vt , vt ⇠ N (0, Rt )p(xt |y1:t
t )1:t 1)
Atp(xp(x
time k|y1:t
tt|y11:t 11) 1 ) Chalmersp(x t |y1:t ) of Technology
University
time k 1 Nxt 1 x̂t 1|t 1 , Ptp(x 1|tt |y 1 1:t )

p(xt 1 |y1:t 1 )
p(xt |y1:t 1 )
Extended p(x Kalman |y filter
1) Nx x̂t 1|t 1 , Pt 1|t 1
predict t 1 1:t
p(xAt t |ytime
1:t 1 )kt 1 1
nearize h(x Nxt 1predict x̂tp(x t |y11:t
, Pt1 )1|t 1 p(xt 1 |y1:t 1 )
Att ) •timeIdea:
k Linearize
1 observation
1|t
Linearize h(xx̂t ) p(x t |y )x
edict h(xt )•= h(x̂
h(xt )
Outcome
t|t 1 )
N
+ atxrtime
t
x
t|t
h(x t-1: 1
t
,
)|
P p(x
x
t|t
h
=x̂tt 1
l
1 |y
o (x
1:t t 1 )x̂ of
t|t
the
1 )
1:t 1N
form t 1 x̂t 1|t 1
, Pt 1|t 1
g a
t t t|t 1
|y
i
• Prediction: |
p(x
h(x ) = {z
h(x̂) of 1 )}+
the form rxtNh(x )|t|t
xt t x̂ 1 ,t|t
Pt|t (x1t x̂t|t 1 )
re NxtH1t x̂t predict
z
t t 1:t 1 t|t
r on , P xt =x̂ 1
1|t 1 | t 1|t 1{z }
h(xt ) = h(x̂t|t 1 ) + r
predict
x̂where
x h(x
Nxt x̂
t|t
t 1 = t )|
F x̂
t|t) 1 ,t|t
xtt =x̂
t
p y
Pt|t}1 1
1|t
(x
1 +
t B x̂
t ut|t
t 1 )
Ht p(xt |y1:t 1 )
= Ht xt |+ h(x̂
Pt|t 1 =HFt t P=
{z
t|t 1
t H
H
o
c nd
x̂
1|tt x G
t t|t 1
1tF+
p(x h(x̂
+
tt |y Qx̂t t|t
1:t t|t 1) 1
)1 = H Ft x̂t|tt 1|t 1 1 +NB xtt ux̂
t t|t 1 , Pt|t 1
Linearize
= H
ỹ•t =Correction:
x +
y t t )h(x̂t|t linearize
h(x
h(x̂x̂ ) =
1H
F x̂x̂
n ,
) Ht x̂around
a
t|t 1 ⇡ H
=Nyx1twhere + B u
t xt + vt mean, approximately:
predicted
Correct:
o t Pt|t
t t t|t
t|t 1 1 t
t ỹt t 1|t
t|t 1 h(x̂t t|t ) 11 H = tF Pt 1 1|t
x̂tt|t ⇡H 1Ft xt t+
+Q vtt
Linearize h(xt )
ỹt = yt Kh(x̂ = Ptt|t
t h(x ) = h(x̂H T
Pt|t1 ) 11Correct:
HtF
a t i
t|tH1t P
t x̂tt|t
)+
c h
t|t
⇡ rH
t
1xH
x̂T
t|t 1
h(x + )|
txt +tv x
, P1t|t
RtT t =x̂t|t 1
1
(xt x̂Tt|tx̂t|t 1) 1 = 1 Ft x̂t 1|t 1 + Bt ut
s
= Pt 1K F + Q
z
t|t = tP t H t H P H + R
where 1|t t
t | )| t|t 1{z t(x t x̂
1 t }t|t
i r
h(xt ) = h(x̂t|t 1 ) + rtx|y h(x 1) t t
orrect: Kt = Pt|t 1 HT H
a l ee
P
p(x
| x̂ H
t 1:t ) t xt =x̂1
T {z
+ = R F x̂
t|t
Ht 1
} p(x
t
+ |yB
t|t
u )
1
Pt|t 1 = Ft Pt 1|t 1 Ft + Qt
c m
t t t
s
t|t 1 t 1|t 1
t t t|t
Ntxxt t x̂
1
3,tPt|tHt ) H x̂t t 1:t
=H
o
L W y ad
• Then p(xt |y1:t ) Pist|tof1the
+t|th(x̂
= Ht xt + h(x̂t|t 1 ) Ht x̂t|t 1 o t|t 1 Correct:
= Fform N t t|t 1
t t 1|txt 1 F
P x̂t|t
t+ ,P Qt|tt 3
5G nk
ỹtx̂= y, P h(x̂ t|tt 1 ) h(x̂ Ht|tt x̂t|t ⇡ Ht xt + vt
Correct:
x̂t|tN= x t
=t|tyt= (Ih(x̂K
ỹt P
t|tt|tt1
x̂ +t|t
r a
t|tt H
Kt = Pt|t 1 H
nKt (y
3 x̂Ttt|t
1 )t )PH x̂ t|t
= x̂t|t
1 ⇡
t|t 1 Ht Pt|t 1 H + Rt
1 )) 1
H1+
t x t
T
K+t (y v t
t h(x̂
1 t|t 1 ))
Pt|t = (I Kt Ht Pt|t 1 )
e
x̂t|t = x̂t|t 1 + Kt (ytT h(x̂P
H co - G
Kt = Pt|t 1 Ht Ht Pt|t
t = (I Kt H
t|tt|t 1 )) T
p(x1t |y H1:tt + ) Rt
t P
t 1 t|t 1 )
3
EKF with score function 3

Se
p(xt |y xt ) x̂t|t , Pt|t
• 3Works EKF with score function
N1:t
well inN weak nonlinear regime
xt x̂t|t , Pt|t
F with score yfunction t = h(xtt|t
x̂ ) +=vx̂t t|t 1 + Kt (yt h(x̂t|t 1 ))
© Henk Wymeersch, GonzaloPt|t Seco-Granados,
= (IKt (y K yH t =Ph(xt ))+ vt
Htt2017-2019 37
x̂ t|t = x̂ t|t 1 +
log p(yt |xt ) / (yt h(xt )) R (yt h(xt )) H th(x̂
1 t|tt|t1 1 ))
log p(y |x ) / (y h(x )) R 1 (y h(x ))
yt = h(xt ) + vt , vt ⇠ N (0, Rt )
p(xt |y1:t )
Particle filter (bootstrap filter)
p(xt |y1:t 1)
At •time
Idea:
k represent
1 distributions by samples
(N )
t
(1)
• Outcome at time t-1: p(xt 1 |y1:t 1 ) of the form [xt 1 , . . . , xt 1p ]
(i)
g h
(i)
a l o
• Prediction: simulate the future x ⇠ p(x
i|x
Nxt 1 x̂t 1|t 1 , tPt 1|t 1t t 1 )
r on z
predict
p y
• Correction: promote more likely samples w(i) / p(yt |x(i) t )
• Resample: draw samples according
p(xt |y1:t 1 )o
c nd
to G
their weight [x
(1)
t , . . . , x
(Np )
t ]
n ,
• Generally high complexity (large Np , exponential in the dimension)
a
t i o
Nxt x̂t|t 1 , Pt|t 1
h
where
i z a r s c
x̂
a l = F x̂
e e + Bu
c
t|t 1 t t 1|t 1 t t
o m Fo +s
L W y ad
P = F P
t|t 1 tQ t 1|t 1 t t
Correct:
5G nk r a n
e
H co - G
3
Se
https://www.slideshare.net/kohta/particle-filter-
tracking-in-python
=4 0 3I I 5
I I I
N (x̂i,t 1|t 1 , Pi,t 1|t p(x1,t 1 |y1:t 1 ), p(x2,t 1 |y1:t 1 |y1:t 1 )
Distributed tracking with1 )belief propagation 1 ), p(x3,t
p(xi,t 1 |z1:t 1 )
6
• p(xGaussian
At time t-1: local 1,t 1 ) distributions N (x̂i,t 1|t 1 , Pi,t 1|t 1 )
p(x1,t , x2,t , x3,t |x1,t 1 , x2,t 1 , x3,t 1 )

h t l o
• Prediction: local update as in Kalman filter
i g
r on , 1x ) a 3
p(x1,t 1 )
z
p y
x̂i,t|t 1 = Fi,t x̂i,t 1|t 1 + Bi,t ui,tp(x1,t , x2,t , x3,t |x1,t 1 , x2,t 1 3,t 1
o
c nd11 G 4 2
,
Pi,t|t 1 = Fi,t Pi,t 1|t 1 Fi,t + Qi,t
i o n a
a t c h 5
•
i z r
Correction: account for measurements
l s from references and neighbors
a
using belief propagation
c e e s
o
L W y ad m o
5G nk r a n
H coe - G
Se
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 Erik B. Sudderth et al, “Nonparametric Belief Propagation”, in 39
Summary
Models
• Radio signal convey position-related information
h t l o
• Measurements can be related to distance and angle i g
rsome oform z a
• Time-based distance measurements require
p y n of
synchronizations o
c nd G
n , a
t i o h
Methods
i z a r s c
a l ee
• Bounds provide insight in performance
• Algorithms for c s
o
Lproblems y m d o
static case: LS, ML, MAP, initialized by
convexified
G W n a
5 nforkmobile case:
• Algorithms
r a Bayesian filter
e
H co - G
Se
Outline

h t l o
r on z a
p y
c nd G
n , a
i o
t h
i z a s c
r
• Conclusions
a l ee
o c m o s
L W y ad
• References
5G nk r a n
e
H co - G
Se
J. A. del Peral-Rosado, et. al. ”Survey of Cellular Mobile Radio Localization

Radio-based positioning Methods: From 1G to 5G” in IEEE Communications Surveys & Tutorials, 2018.
h t l o
i g
r on z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
What do we mean by 5G?

image: image:
University Qualcomm
t
of Bristol
g h a l o
i
r on z
p y
o
cbandwidths d G
Large antenna arrays
n ,
Large
a n
Directional transmission
t i o h
Higher carriers
i z a r s c
image:
a l ee
c m s
Ericsson image:
o o
YouTube
L W y ad
5G nk r a n
H coe - G
S e
Device-to-device
communication
Network densification

5 Selling points for 5G positioning
1. High carrier frequencies

h t l o
2. Large bandwidths
o
c nd
p y
i g
r on
G
z 5G
a
3. Large number of antennas
n , a
D2D communication at
i o h
4.
i z r s c
a l ee
5. o c m
Network densification o s
L W y ad
5G nk r a n
e
H co - G
Se
2 Mobility
High carrier frequencies
Model
• Received power due to path loss, shadowing, multipath fading

• Path loss: countered by array gains
h t
l o
• Shadowing: severe penetration loss yt =so
i g
not )shadowing
h(x
r on z a
+ vt , vt ⇠ N (0, Rt )
•
y
Multipath fading: no diffraction, limited scattering and little reflection
p
•
o
c nd
Communication channel is dominated by LOS and G
p(xta|yfew
1:t )
location-
dependent clusters
n , a
t i o h
p(xt |y1:t 1 )
i z a r s c
3 5G
a l selling
e e points
Below 6 GHz: full matrix (i.i.d., Gaussian)
c
o y m do X Aboves 28 GHz: low-rank matrix
LH(t) W a
L 1
G n
H
H(t) = ↵ a(✓ )a (✓ ) (t ⌧ )
5 nk a
l rx,l tx,l l
e G r l=0
H co - Each “effective path” corresponds to cluster
Se
Sparse communication channel, related to the physical environment

Large bandwidths
1. From Fisher information: large bandwidth leads to better delay

t
Multipath-Assisted Indoor Positioning
(distance) estimation accuracy
g h a l o
2. More resolvable multipath components: two paths are
i
r on z
resolvable when |⌧1 ⌧2 | ⇥ B 1
p y
o G
ranging algorithms. Tracking is explained in Section V and
c nd
a detailed discussion of results is given in Section VI.
220
2 GHz bandwidth
−70
,
200 −75
II. S CENARIO, M EASUREMENTS ,
i o n AND
a
G EOMETRIC
180 −80
t h
M ODELING 160
c
−85
z a s
Fig. 1 shows the scenario used in this paper. It is the
i r
140
−90
l ee
ground floor of a large three-storey building with open
position
120
a
ceilings in the corridor areas in all but the uppermost −95
c m s
100
floors. Walls are made of reinforced concrete (shown as
o o
−100
black outer lines) and doors (shown in grey) are made
LH(t)Wy ad
80
of metal. The long grey outer lines on the upper and 60
−105
5G nk n
lower side are large windows with some metal pillars in- −110
a
between. We placed four base stations (BSs) at known 40
274
e G r
locations and measured the UWB channel between them
and a moving agent. The latter was moved along a
20
271
266 270
288
−115
-
3 −120
H co
trajectory consisting of 220 points spaced by 10 cm. The 0 20 40 60 80 100
obstruction shown near the center of the corridor has τ [ns]
not been present in the measurements. It is introduced
e
30 meter
artificially in the performance evaluations to show the Figure 2: Received signals r` (t) in logarithmic scaling over the trajec-
HighS
influence of NLOS scenarios on the localization, c.f. tory for BS 3. The white dashed lines indicate expected delay paths of
MPCs modeled by VAs up to order two, computed by geometric ray-
Section VI. degree of resolvability of multipath tracing. Indices of some of the VAs shown in Fig. 1 are given.
A. Geometric Modeling of the Environment

Meissner, Paul, et al. "Accurate and robust indoor localization systems
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 First, the MPCs corresponding to the VAs need to be47
If a floor plan of the building is available, usingthe BS
ultra-wideband signals." arXiv preprint arXiv:1304.7928 (2013).
detected in the signal received at the agent, which de-
positions ai , i = 1, . . . , 4, can be mirrored with respect
pends on influences such as e.g. material parameters
Large number of antennas

• From Fisher information
t
– large number of RX antennas: better AOA resolvability
h l o
i g a
– Large number of TX antennas: smaller beamwidth, better AOD
r on z
resolvability
p y
o
c nd G 60
8 antennas
64 antennas
n , a
o
50
a t i c h
s
gain after spatial filter

z
40
a i
l ee r
c m s
30
o
LH(t)Wy ad o 20
5G nk r a n 10
e
H co - G 0
0 0.5
AOA [rad]
1 1.5
Sedegree of resolvability of angles

High

attains
network algorithm design, since every iteration requires while
packets to be broadcast overUniversity
Chalmers the network, increasing
of Technology density
interference and reducing throughput. Moreover, more
iterations corresponds to an increased delay in determin- C. Dyn
D2D communication ing one’s position. This makes cooperative MMSE Let
localization more suitable for real-time applications. As a wo
Similar results are shown in Fig. 16 for a setting with
• 5G will have sidelinks 50 agents. By comparing Figs. 15 and 16, we observe that
in a dir
ð
and di
• Measurements between devices
h t l o respect
• Can improve location accuracy and coverage i g
r on z a time t
y
knowle
o p G
of ever
c nd
know i
n , a
distanc
t i o h !
i z a r s c ð
p zi
CCDF
H(t) a
c m e e s
o
so that
L W y ad o !
5G nk n ðtÞ
a
p xi jx
e G r
H co -
Cooperative
e
Spositioning based on D2D measurements
Error [m]
Fig. 16. Comparison of different localization algorithms for 13 anchors
For fai
ative lo
and 50 agents. Cooperative LS outperforms noncooperative MMSE
localization. The cooperative MMSE approach offers significant 14
He
Wymeersch, Henk, Jaime
performance
Lien,
gains
and
and
Moe
attains
Z.
an
Win. "Cooperative
outage performance
localization
close to that of
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 49 b 2 IR, a
in wirelessthe
networks." Proceedings of the IEEE 97.2 (2009): 427-450.
centralized algorithm. 15
Ag
outer wall for indoor users. Note that the 3GPP UMi LOS probability model is not a functionChalmers University of Technology
height like the UMa LOS probability model.
Network densification
Table 3. Comparison of the LOS probability models for the UMi environment
d1 d2 MSE
3GPP UMi • Many 18
access nodes36 0.023
d1/d2 model • 20
High chance of LOS39at short distances
0.001
h t l o
NYU (squared) 22 100 0.026
• LOS link most useful for positioning i g
r on z a
p y
1
o
c nd
LoS Probability / UMi
G
0.9
,
UMi Street-Canyon data (based on ray-tracing)
n
3GPP UMi model (d1=18, d2=36)
a
RMSE = 0.023
i o
Fitted (d1/d2) model (d1=20, d2=39) RMSE = 0.001
t h
0.8 NYU squared model (d1=22, d2=100) RMSE = 0.026
0.7
i z a r s c
l ee
LoS Probability
a
0.6
0.5
o c m o s
L W y ad
0.4
5G nk n
0.3
0.2
r a
0.1
0
0 50
e
H co -
100
G 150 200 250 300
Segenerally available for positioning

Distance [2D] (m)
LOS link
Figure 12. UMi LOS probability for the three models considered.
the 3GPP 3D model [3GPP TR36.873] does not include an indoor scenario, and the indoor
http://www.5gworkshops.com/5G_Channel_Mod
ot scenario in e.g. the IMT advanced model [ITU M.2135-1] differs from the officeel_for_bands_up_to100_GHz(2015-12-6).pdf
scenario
Outline

h t l o
r on z a
p y
c nd G
n , a
i o
t h
i z a s c
r
• Conclusions
a l ee
o c m o s
L W y ad
• References
5G nk r a n
e
H co - G
Se

h t l o
moderate
2. Large bandwidths
o
c nd
p y
i g
r on
G
z5G
a
n , a
4. D2D communication at
i o h
i z r s c
a l ee
o c m
5. Network densification o s
L W y ad
5G nk r a n
H coe - G
Sepaths, weaker connection to environment
Many possible

5G positioning in cmWave: model

5 cmWave
K
X1
• Single antenna user device with unknown
r(t) = location and clock
↵k a(✓k )s(t ⌧k ) + n(t)
•
cmWave•
Multiple synchronized base stations withk=0
h t
centralized processing
l o
Uplink pilot signal ✓
i g
r on z
◆
a xuser xBS
y
L
X1 ✓0 = arctan
r(t) = ↵l a(✓l )s(t ⌧l ) + n(t)
o p G
yuser yBS
l=0
5 cmWave
, c nd ⌧0 = kxuser xBS k/c + ⇢
✓ OFDM ◆
Many paths, so do we revert to io
xuser xBS n ?a Clock offset
h
Could be time-varying
• ✓0 = arctan
yuser yBS
a t s
[h]i ⇠ CN (0, 2 )
c k⌧t T
• ⌧0 = kxuser
i z
With large number of antennas:
l ein edelay
xBS k/c + ⇢
Rt [k] = a(✓t )↵t exp( j2⇡
r
resolvable in angle N T s
)st [k] + Nt [k]
a
L
X 1
c m
• With large bandwidth: resolvable rt = Sb(✓ t , ⌧)s(t
t )↵t +⌧n)t + n(t)
OFDM
o
r(t) =
o s
↵ a(✓
l l l
Nr N ⇥1
L W y ad t , ⌧t ) = a(✓t ) ⌦ d(⌧t ) 2 C
b(✓l=0
k⌧t T
5G nk n
Rt [k] = a(✓t )↵t exp( j2⇡ )s [k] + Nt [k]
r(f ) =
r a
N TsLXt1
↵l a(✓l )s(f ) exp( j2⇡f ⌧l )✓+ n(f ) ◆
e
rt = Sb(✓t , ⌧t )↵t + nt
H co - G
b(✓t , ⌧t ) = a(✓t ) ⌦ d(⌧t ) 2 CNrLX
l=0
N ⇥1
1
✓t = arctan
xt x
yt x
Se
r[k] = ↵l a(✓l )s[k] exp( kxt l /(N
⌧t =j2⇡k⌧ xk/c
Ts+
))⇢+ n[k]
l=0
✓ ◆ st = [xt ⇢t ]T
R Ur AU⌧ S + N
xt = x
✓t = arctan
yt x
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 st = Fst 1 + wt 53
⌧t = kxt xk/c + ⇢ ✓ ◆
xuser xBSt ) + nt
yt = h(s
5G positioning in cmWave: approaches
• Model based
•
t o
M. Koivisto et al., "Joint Device Positioning and Clock Synchronization in 5G Ultra-Dense Networks,"
h l
• g
r on z a
in IEEE Transactions on Wireless Communications, vol. 16, no. 5, pp. 2866-2881, May 2017.
i
N. Garcia, H. Wymeersch, E. G. Larsson, A. M. Haimovich and M. Coulon, "Direct Localization for
p y
Massive MIMO," in IEEE Transactions on Signal Processing, vol. 65, no. 10, pp. 2475-2487, May,
•
2017.
Data driven o
c nd G
•
n , a
o
Vieira, J., Leitinger, E., Sarajlic, M., Li, X. and Tufvesson, F., 2017, October. Deep convolutional
t i h
neural networks for massive MIMO fingerprint-based positioning. In Personal, Indoor, and Mobile
a c
• z
l ee r s
Radio Communications (PIMRC), 2017 IEEE 28th Annual International Symposium on (pp. 1-6).
i
Arnold, M., Dörner, S., Cammerer, S. and Brink, S.T., 2018. On Deep Learning-based Massive MIMO
a
c m
Indoor User Localization. arXiv preprint arXiv:1804.04826.
s
o
L W y ad o
5G nk r a n
H coe - G
Se
Model-based cmWave 5G positioning for LOS

• Local processing at remote radio heads (RRH) with LOS for TOA and AOA (=DOA)
• Central processing for position and clock offset
h t l o
i g
r on z a
p y
o
c nd G DoA and ToA Obtained position
estimate can be
,
estimates are
n
Periodic OFDM communicated
i o
uplink pilot signals
h a communicated to
a central unit where needed
a t s c
i z
l ee r LoS-RRH1 DoA1 & ToA1
a
Position
o c m o s
LoS-RRH2 DoA2 & ToA2
estimate
L W y ad
Device Central
unit of a
5G nk n DoAN & ToAN network Network
r a LoS-RRHN synchronization
e
H co - G DoA and ToA estimation
After channel estimation, DoAs and
Position estimation
Position of the device is estimated and
”by-product”
Se
ToAs are estimated and tracked at tracked within a central unit of a
each LoS-RRHs using sequential network by fusing the DoAs and ToAs
estimation method, e.g., an Extended from all the LoS-RRHs in a second
Kalman filter (EKF) EKF

Model-based cmWave 5G positioning for LOS

• Random 3D trajectories, velocity 20-50 km/h
• METIS map-based ray-tracing channel modeling
(including NLOS paths)
h t l o
•
i
AOA and TOA from two closest LOS base stations
g
r on z a
are fused
p y
•
•
20 antennas
Update interval: 100 ms o
c nd G
50 m
n , a
t i o h
a c
4 8 1.6 8
3.5
Azimuth DoA
i z
l ee r
Elevation DoA
s ToA
7 1.4
3D Positioning UN clock offset estimation
7
a
c m s
DoA/ToA EKF
UN clock offset RMSE [ns]

3 6 1.2 6
o
DoA/ToA UKF
3D position RMSE [m]

2.5
L W y ad 5 1 5
5G nk
RMSE [ns]
n
RMSE [◦ ]
a
2 4 0.8 4
1.5
e G r 3 0.6 3
1
H co - 2 0.4
Pos&Clock EKF
Pos&Clock UKF
Pos&Sync EKF
2
Se
Pos&Sync UKF
0.5 1 0.2 DoA-only EKF 1
DoA-only UKF
0 0 0 0
1st AN 2nd AN 1st AN 2nd AN 1st AN 2nd AN EKF UKF EKF UKF

ML estimate of
bH (✓k,t , ⌧k,t )ĝk,t
↵
ˆ k,t k,t
rk,t = Sb(✓ =, ⌧k,t )↵k,t + nk,t2 Chalmers University of Technology
kb(✓k,t , ⌧k,t )k
✓ ◆
b(✓k,t , ⌧k,t )bH (✓k,t , ⌧k,t )
5 Model-based cmWave 5G positioning for NLOS
cmWave
zk,t = =Ib(✓k,t , ⌧k,t )↵k,t + ⌫k,t2
ĝk,t kb(✓k,t , ⌧k,t )k
ĝk,t
ML estimate of
Sparse LX1
H
b (✓ k,t , ⌧k,t
↵l)ĝ
ˆ k,t =r(t) = a(✓k,t )s(t ⌧l ) + n(t)
• Observation
↵ 2
l
b(✓k,t , kb(✓
⌧k,t ) k,t
= ,a(✓
⌧k,tk,t
)k) ⌦ d(⌧k,t )
t
l=0
• Position
The
✓ consistency:
scatterer b(✓k,t =
is, consistent
U
The
⌧k,t )b (✓rk,t✓
mobile
H N ã ⌦ UN d̃
g h
, ⌧with
k,t ) 3 paths
a o
◆ is consistent with 4 paths (all
l
◆ (all NLOS in this case)
LOS);
zk,t = I
kb(✓ =, ⌧k,t )k
k,t
2
i
r on✓
x user x
z
ĝk,t
BS
y
✓0 = arctan
p
Sparse yuser yBS
o
c nd
⌧0 = kxuser k⌧ xBS
t G
k/c + ⇢
,
Y[k]
b(✓ = a(✓ )↵t exp(
k,t , ⌧k,t ) t= a(✓
j2⇡ k,t ) )sT [k] + N[k]
k,t ) ⌦ d(⌧
n
NT
a
s
OFDM
i o
vec(Y[k]) = s[k]= UNr ã ⌦ UN d̃
t lines h
=
i z aBearing
s c
Rt [k] = a(✓t )↵t exp( j2⇡
r
k⌧t T
)s [k] + Nt [k]
N Ts t
a l
minimize kXk2,1
e e
c
rt = Sb(✓ , ⌧ )↵tG+ nt
o
Y[k] = a(✓ )↵
XK t t X
mexp( j2⇡
o s
k⌧t T
)s [k] +))r N[k]
L W y ad
N ⇥1
b(✓ t t
s.t.t , ⌧t ) =za(✓
k t ) ⌦Nx Tgks a(✓
d(⌧ t) 2 CN
k (p g "
5Gproblem
g=1
vec(Y[k]) = s[k] k=1
k r a n
• convex
n X 2 CG⇥K ✓ G locations
◆
e
minimize kXk2,1
H co - G ✓t = arctan
xt
yt
x
x
K stations
K
X G
X
Se
s.t. zk xgkkx
⌧t = a(✓ xk/c
t k (p +⇢
g ))  "
k=1 g=1
st = [xt ⇢t ]T
X 2 CG⇥K
st = Fst 1 + wt
Model-based cmWave 5G positioning for NLOS

• Search area: 100 m x 100m, 4 BS’s with 100 antennas each, Gaussian pulse emitted by
source, 30 MHz baseband bandwidth at 7GHz carrier frequency, Simulated real indoor
multipath channel. Proposed method “DiSouL”
h t l o
• Baseline techniques:
i g
r on z a
y
– Squared-Ranged Least-Squares (SR-LS) [Beck’08]
p
GARCIA et al.: DIRECT LOCALIZATION FOR MASSIVE MIMO
– Stansfield estimator [Stansfield’46] o
– Instrumental Variables (IV) [Doğançay’03]
c nd G 2483
n ,
– Direct Position Determination [Weiss’04]
a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
H coe - G
S e
Fig. 4. Cumulative density function of the localization error for E/N 0 =
10 dB SNR, 30 MHz 10 dB SNR
Fig. 6. Probability of sub-meter precision vs. bandwidth for E/N 0 = 10 dB.
10 dB and B = 30 MHz.
Data-driven cmWave 5G positioning

• Idea: relation between channel at the BS and the user location
• Exploit sparsity
h t l o
i
r ong z a
p y
Vieira, J., et al, ”Deep convolutional neural networks for
o G
massive MIMO fingerprint-based positioning”
, c nd
i o n a
a t c h
i z
l ee r s
a
c m s
• o
L W y ad
Train neural network o
5G nk r a n
e
H atcBSo
Channel - G UE location
Se
Summary
• In cm-band: many multipath components, less bandwidth

t o
• Large antenna arrays at base stations: use AOA, TOA, or entire
h l
response
i g
r on z a
p y
• Model-based methods: Positioning requires BS cooperation
o
c nd G
• Data-driven methods: Can be done with a single BS
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
Outline

h t l o
r on z a
p y
c nd G
n , a
i o
t h
i z a s c
r
• Conclusions
a l ee
o c m o s
L W y ad
• References
5G nk r a n
e
H co - G
Se

h t l o
2. Large bandwidths
o
c nd
p y
i g
r on
G
z 5G
a
n , a
D2D communication at
i o h
4.
i z r s c
a l ee
5. o c m
L W y ad
5G nk r a n
e
H co - G
Sestrong connection to environment
Few paths,

5G mmWave positioning: outline
• Positioning in the delay domain

– Bounds
h t l o
– Algorithms i g
r on z a
p y
• Positioning in the delay and angle domain
– Bounds o
c nd G
n , a
– Algorithms
t i o h
i z a
• Positioning in the angle domain
r s c
– Bounds
a l ee Not covered in this tutorial
o c m o s
L W y ad
– Algorithms
5G nk r a n
e
H co - G
Se
s.t. zk xgk a(✓k (pg )) ymk a(✓mk )  "
k=1 g=1 m=1
wave Chalmers University of Technology
mmwaveProblem and model

ay only
Delay only
• Single
L
X anchor, multiple paths
r(t) = ↵l s(t ⌧l ) + n(t)
t
L X
l=0
r(t) =
g h a l o ↵l s(t ⌧l ) + n(t)
l=0
r i n z
⌧ = kx 0 xk/c BS
p y o T T T
⌘ = [⌧ , ↵ ]
⌧ = kv  xk/c
l l
c o d G
• Goal:J(⌘)determine
=
⌘ = [⌧ , ↵J ] T
n ,
J user Jlocation, with unknown
a n
virtual anchors (possibly T⌧T,⌧ ⌧ ,↵
o
T
also unknown
 J
scatterers)
t i c h ⌧ ,↵ ↵,↵
J n(t) za
X K 1 J J
s
⌧ ,⌧ ⌧ ,↵
J(⌘) =
i r
r(t) = v
↵ a(✓ )s(tJ ⌧ ) +
k 1
l ee
k T k
6 a
⌧ ,↵ ↵,↵
c s
k=0
✓
6Lx
o ◆
y m d o
x
G user
W n a BS
✓ = arctan
0
5 nk
y y user
r a BS
⌧ = kx
0 x k/c
user e
H co -
+
s
⇢
BS G x
l
e
<latexit sha1_base64="dIwz1+jVF7PVYfrA7Oc+lvW6ZIo=">AAAB83icbVDLSsNAFL2pr1pfVZduBovgqiQq6LLoxmUF+4AmlMl00g6dTMLMjVBCf8ONC0Xc+jPu/BunbRbaemDgcM693DMnTKUw6LrfTmltfWNzq7xd2dnd2z+oHh61TZJpxlsskYnuhtRwKRRvoUDJu6nmNA4l74Tju5nfeeLaiEQ94iTlQUyHSkSCUbSS78cUR2GUm2lf9qs1t+7OQVaJV5AaFGj2q1/+IGFZzBUySY3peW6KQU41Cib5tOJnhqeUjemQ9yxVNOYmyOeZp+TMKgMSJdo+hWSu/t7IaWzMJA7t5CyjWfZm4n9eL8PoJsiFSjPkii0ORZkkmJBZAWQgNGcoJ5ZQpoXNStiIasrQ1lSxJXjLX14l7Yu6d1l3H65qjduijjKcwCmcgwfX0IB7aEILGKTwDK/w5mTOi/PufCxGS06xcwx/4Hz+AHzTkfg=</latexit>
S
k⌧ t
Rt [k] = a(✓t )↵t exp( j2⇡ )sT
t [k] + Nt [k]
N TsSeco-Granados, 2017-2019
© Henk Wymeersch, Gonzalo 79
= Sb(✓t , ⌧t )↵t + nt

– Bounds
h t l o
– Algorithms i g
r on z a
p y
– Bounds o
c nd G
n , a
– Algorithms
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
L
X
r(t) = ↵l s(t ⌧l ) + n(t) Chalmers University of Technology
l=0
Performance bounds
⌧0 = kxBS xk/c
• Fisher ⌧information
l = kvl matrix
xk/c
⌘ = [⌧ T , ↵T ]T
h t l o

J⌧ ,⌧ J⌧ ,↵ i g
r on z a
y
invert
J(⌘) =
⌘ = J[⌧T T T T
⌧ ,↵, ↵J↵,↵
]
o p G
⌘=

TJ⌧ ,⌧T TJ⌧ ,↵
= [⌧ ,T ↵ ]
, c nd
J(⌘)
 J⌧ ,↵ parameter
• Remove nuisance J↵,↵
i o n
(EFIM) a
J⌧6,⌧ J⌧ ,↵
a t c h
s
J(⌘) =
z
1
JT JT
J(⌧ ) = J⌧ ,⌧ ⌧ ,↵J⌧ J
l i
J↵,↵
,↵↵,↵
J aJ J ee
⌧ ,↵
r invert
J(⌧ ) = J ⌧ ,⌧
o c space: m
1 T
⌧ ,↵ ↵,↵ ⌧ ,↵
o s FIM
•
L
Convert to position
⌘˜ = [x , v W
y leads to
a d singular
G
5 J(⌘)˜ =nTJ(⌧k )T ran
T
] T T
e
Hr ⌧ (⌘)˜co2 R - G T
2L⇥L
S⌘˜ e= [x]
T= ˜
⌘
T
T
J(x) = TJ(⌧ )T
T = rx ⌧ (x) 2 R2⇥L
⌘˜ = [xT , vT ]T Chalmers University of Technology
˜ = TJ(⌧ )TT
J(⌘)
Performance bounds
2L⇥L
˜ 2R
T = r⌘˜ ⌧ (⌘)
• If virtual anchors
⌘˜ = [x]T are known: nonsingular FIM
J(x) = TJ(⌧ )TT
h t l o
T = r ⌧ (x) 2 R 2⇥L
i
r on g z a
x
p y ⌘ = [⌧ , ↵ ] T T T
z = m(x) + n, n ⇠ CN (0, ⌃)
• Multipath-assisted localization c o d G 
• In practice user has unknown n

J(x) = < r m(x)⌃ r m(x) , 1
a n
H J(⌘) =
J J ⌧ ,⌧
T
⌧
o
x x J J
⇢
i clock offset ↵
|⌧ c⌧h|B
⌧ ,↵
⇢ Z
a t s
0
,⌧ ) = < ↵ diagonal,
↵ ṡ(t so⇤
⌧ )ṡeach
l i
(t ⌧pathz
2 • When paths are all resolvable
)dt ⇤
e
:
r
1, 8l, l , then J(⌧ ) =isJ
l l0 J J ⌧ ,⌧ ⌧ ,↵ ↵
l0
N 0
l l0
c a provides
l
e
independent information
s
l0
2
( Z
o m
|S(f )| (2⇡f )yexp( j2⇡fd )dt
L
+W/2
o
)
a
⇤ 2 2
W
= < ↵↵
N 0
5 G l l0
k
W/2
a n
ll0
2
( Z
e n +W/2
G r )
=
N
< ↵↵
0 H co
l
⇤
l0
-
S(f )(2⇡f ) S
W/2
(f ) exp( j2⇡f 2
)dt ⇤
ll0
=
Se
ll0 can make one rotation in W , then getting close to zero
Results
• 1 GHz bandwidth
• SNR at 1m LOS: around 30 dB
h t l o
• PEB and uncertainty ellipses
i
r ong z a
p y
RNAL ON SELECTED AREAS IN COMMUNICATIONS, VOL. 33, NO. 11, NOVEMBER 2015
Independent paths
o
c nd
overlappingGpaths
n , a
t i o h
Fig. 2. Logarithmic PEB (17) for estimated SINRs in the validation environ-
c
ment using measured signals with Tp = 0.5 ns and fc = 8 GHz and only MPCs
(2)
i z a r s
corresponding to the anchor at p1 . The 30-fold standard deviation ellipses are
l ee
shown for the CRLB and a tracking algorithm (cf. [24]).
a
o c m o s
L W y ad
where DI = 2DA .8 As shown in Appendix E, one gets the final
5G nk n
result for the EFIM I p for all agents
⎡ (1)
I Mo +2I I (1) +I
I (1)
r a
I (1,2)
I (1,M)
⎤
G
2I . . . 2I
e
Ag An C C
⎢ ⎥
IP =⎢
⎢
⎢
⎢
IC
2I
H co
(2,1)
. - . . . ⎥
⎥
⎥.
⎥
Se
⎣ .
. ⎦
Leitinger, Erik, et al. "Evaluation
(M,1) (M) (M) of position-related
(M) information in multipath components for indoor
2II
positioning."
C I
IEEE Journal +2I
Mo on Ag I +I
SelectedI An Areas in communications 33.11 (2015): 2313-2328.
(43)
ron-
η ' (m,η) (m,η)
PCs The diagonal blocks I Ag = m∈Nm \{η} (HAg )T !(m,η) HAg
s are © Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 83
account for the bistatic measurements between agent η and
η ' (j,η) (j,η)
all other agents, I = (H )T !(j,η)H account for

– Bounds
h t l o
– Algorithms i g
r on z a
p y
– Bounds o
c nd G
n , a
– Algorithms
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
surements of the MPC amplitudes [34]. The SINRs can also the floor plan. A maximum a posteriori (MAP) estimator
be estimated from offline training data [18]. Using this side has been used for this refinement, employing a set of train-
information, the tracking filter can perform an appropriate ing data at known locations. The performance
Chalmers Universitywithout this
of Technology
measurement weighting of the extracted delays [18]. Fur- MAP refinement is indicated by the blue dash-dotted curve.
thermore, the SINRs allow for relevance determination: the It shows a similar robustness but a reduced accuracy. We see
Algorithms
overall set of VAs A n can be reduced to a set of relevant
u
this result as an evidence that the SINR model improves the
VAs A n . Also geometric considerations, like the visibili- robustness, while the VA-position refinement is needed to
ties of certain VAs, can be incorporated at this stage [33]. optimize the accuracy.
•Figure
If 4virtual
illustratesanchors
the efficiencyare known:
of this approach nonsingular
based FIM model, e.g., the SINR information, is the
The environment
on experimental data in the microwave-UWB at a bandwidth key to obtaining efficient tracking algorithms; not only in terms
• If virtual anchors are unknown:
of 2 GHz [18], [33]. It compares the CDFs of the position
h tneeds
l o
tracking
of achieving optimal method with
performance, memory
but also in terms ofof com-
virtual
errors for anchors
algorithms locations
having different
g
levels of environ-
r i z a
plexity. The set of relevant VAs in a scenario is significantly
n
ment models available. The data have been obtained on smaller than the overall set of VAs that would be taken into
25•measurement
SLAM:trajectories
start fromwith twoposition
y with
fixed anchors.
p
goodaccount
o
Trajec- priorbyand determine
visibility considerationsand trackthe number
[18] (usually,
virtual anchors
o
c nd G
n , a
o
MPC SINR
a t i c hMemory Estimation
i z
l ee r s +
a
rn (t ) Zn An, ass, Zn, ass p̂n
Tracking
c m s
MPC Estimation
Algorithm
o
L W y ad o −
p̂n
5G nk n Data E 7 ak – pˆ n− 7 F a
a
An ~
∈ An
r
VA Memory Assoc. k
e
H co - G Zn, ass
An = {aˆ k}k > K

new
Se
VA Discovery
(SLAM)
FIGURE 3. A block diagram of state space tracking and data association scheme using MPC range estimates. The input is the received signal rn (t),
the overall output is the estimatedSeco-Granados, t+
agent position p n at 2017-2019
time step n. The estimation is performed using the environment model represented by the
© Henk Wymeersch, Gonzalo 85
memory blocks.
ly related to the geometry at hand. We model 1–10 cm for most of the area.
the kth MPC using a virtual anchor (VA) [28], Chalmers University of Technology
a k, yielding x k = 1 /c p - a k , where p is
be determined andResults @ 1 ofGHz
c is the speed light. For 9
lane surfaces, the positions of the VAs can be
8
ghtforwardly: physical
• Known anchors are simply
virtual anchorsmir- −1
ect to the planes; iterated mirroring operations 7
h t l o
Position Error Bound [log (m)]

her-order reflections [27].
f the kth component is defined as
r i g z a −1.2
n
6
p y o
o G
2
| |
ak 5 −1.4
SINR =k
N +T S ( )
, (2)
, c nd
y [m]
0 p o xk
2
ful MPC energy | | to the combined effects
i o n a4
h −1.6
ak
P at the corresponding delay. The influence ofiza

d the interfering DM. The latter is character- t s c 3
with the effective pulse duration T , i.e., a l ee r −1.8

c m
2
s
Anchor
with
o
p
L the deri-
he bandwidth of the measurement signal.
y d o 1
G
for the received signal in (1) enables
W
Witrisal, Klaus, et al. "High-Accuracy
n a −2
mér–Rao lower bound (CRLB)5 on the
k
in “Deri- r
position
Localization for Assisted Living: 5G
n a 0
e G
systems will turn multipath channels
r. (The derivation is briefly discussed
H -
from foe to friend." IEEE Signal
B.”) Using the information inequality,
e position error as E " pt - p , $c tr {o
we obtain
Processing Magazine 33.2 (2016): 59-
−1 0 1 2 3
x [m]
4 5 6
e as the
2 -1
70. r | p J },p
re root of the right-hand side isS
CRLB EKF−DA Estimation Points
defined
bound (PEB), pt is the estimated position, and
alent Fisher information
© Henk matrix
Wymeersch, Gonzalo(EFIM) [29]– 2017-2019
Seco-Granados, FIGURE 2. The PEB and tracking results for Tp = 0.5 ns, fc = 7 GHz, and a86
can be written under the assumption of resolv- single fixed anchor. The PEB (3) has been computed from estimated SINRs
Results @ 1 GHz
15
• Unknown virtual anchors
t
MPC A2,
g h a l o
MPC A1,
Blackboard
i
r on z12 Triple Reflection
p y MPC A1,
Blackboard
o
c nd G MPC A1,
Door and
,
9 Blackboard
n a
Left Window
y [m]
i o h
Door Windows
a t s c (1)
z
6 a1
a i
l ee r
Right
0.05 0.1 0.15
P [m]
o c m o s
Windows
L W y ad 3
Left
25 IndividualWitrisal,
Runs (with SINRs)
5G nk n
Klaus, et al. "High-Accuracy
a
(2)
All Runs (with SINRs) for Assisted Living: 5G a1 MPC A2,
r
Localization
Window
G
25 Individualsystems
Runs (Nowill SINRs)
e
turn multipath channels 0
All Runs (Nofrom
SINRs)
NondivergingProcessing H co
Runs (NoMagazine -
foe to friend." IEEE Signal
SINRs) 33.2 (2016): 59-
−2 0 2 4 6
x [m]
8 10 12 14
Se
70. No Refinement)
All Runs (SINRs,
FIGURE 5. An illustration of the environment map obtained by a simultaneous

he position error e = pt - p true for Tp = 0.5 ns
+
n
(1 )
localization and mapping (SLAM) algorithm. Two anchors at a 1 and a 1
(2 )
n dashed lines showWymeersch,

© Henk the individual 25 runs
Gonzalo over the
Seco-Granados, represent the infrastructure. The agent position as well as the floor plan (repre-
2017-2019 87
d gray indicate the performance of the EKFs with and sented by VAs) are estimated using specular multipath, for which one example
ED POSITIONING WITH SLAM Chalmers University of Technology
6113
Results @ 100 MHz

• Unknown virtual
anchors
h t l o
i g
r on z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk
Gentner, Christian, et al.
a n
"Multipath Assisted Positioning
r
with Simultaneous Localization
e -
and Mapping." IEEE
H co G
Transactions on Wireless
Se
Communications 15.9 (2016):
eceiver position,6104-6117.
estimated VT positions
umber of particles at the end of the track

Fig. 7. Measurement scenario with a fixed transmitter and a moving

– Bounds
h t l o
– Algorithms i g
r on z a
p y
– Bounds o
c nd G
n , a
– Algorithms
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
x x J⌧ ,↵ J↵,↵ 2
1
J(⌧ ) = J⌧ ,⌧ Chalmers JT
University
J⌧ ,↵ J↵,↵ of Technology
2 Angle and delay ⌧ ,↵
n, 5G mmWaveLX positioning:
1 mathematical
⌘ model
˜ = [x T
, v T T
]
H H
y(t) = W Hl Fx(tsk ⌧l ) + W n(t)
V l=0
˜ = TT J(⌧ )T
J(⌘)
l, ↵⌘˜ ⌧ (⌘)
˜ 2 R2L⇥L
t
T=r
or
Hl = hl arx (✓rx,l )aH
tx (✓tx,l )
g h a
⌘˜ = [x]Tl o
✓rx,k
e
L 1
y H(t) = X h a (✓ )a (✓ ) (t i
r on z✓Trx,0
l rx rx,l
H
tx
Tp
tx,ly ⌧l ) J(x) = T J(⌧ )T
= r ⌧ (x)G
l=0
o
cz = m(x)n+dn, n ⇠ CNp (0, ⌃)
2R 2⇥L
,
x
i o n a
t J(x) h
⌧ = kxk/c
c
0
= kx v k/c, l >a0
1 H
✓⌧tx,k = < r m(x)⌃ r m(x)
l
⇣ yl⌘iz
l
r s D2 x x
User equipment
✓ tx,06.2a Angle and

= ✓arctanc e e delay
s X
a q
tx,0
L o
x ✓x m
y yy
◆
d o
a
L 1
d
5✓ G
Limited =
tx,l arctan
k
number of W x x an
RF
l
y(t) =W H
H Fx(t ⌧ ) + W n(t) l l
H
y⌘ r
al n l l=0
=earctanmatrixG
chains. Precoding⇣matrix F
-
D1
H co x✓ y y ◆
2 Base station H
✓ combining
and rx,0 +⇡ ↵
W. H = h a (✓ )a (✓ )
l l rx rx,l tx tx,l
= e
e X L 1
e Estimate
✓ rx,t
position S
(and
arctan
orientation
Figure 1. Two-dimensional MIMO and clock
x system
x
+⇡H(t)↵=
bias)
l
h a (✓ )a (✓ ) (t ⌧ )
model with a D1ofwith
inlthe presence unknown
l=0
l rx
known environment
rx,l
H
tx tx,l l
D position and orientation, and a D2 with unknown position (p) and orientation
© Henk Wymeersch, 2019 90
(↵). The AODs ✓tx,k and AOAs ✓rx,k are also indicated.
⌧0 = kxk/c
n-
Some geometric intuition: downlink
• Abstraction
AOD = direction from BS
• Known BS position
h t l o
• Synchronized i g
r on z a
p y
o
c nd G
n , = rangea
t i oTOA
h
i z a s
from BS
r c
a l e e
estimate
o c m position
o s orientation
AOA, AOD L W y anod yes
G
5 nk a n
AOA,TOA
AOD,TOA e G r no* no
H o - yes no
c
Se
AOA,AOD,TOA yes yes
*unless orientation is known

Some geometric intuition: uplink
• Abstraction
• Known BS position
h t l o
• Synchronized i
AOA = direction from user g
r on z a
p y
o
c nd G
n , = rangea
t i oTOA
h
i z a r s c
a l e e
estimate
o c m position
o s orientation
AOA, AOD L W y anod yes
G
5 nk a n
AOD,TOA
AOA,TOA e G r no* no
H o - yes no
c
Se
AOA,AOD,TOA yes yes
*unless orientation is known


– Bounds
h t l o
– Algorithms i g
r on z a
p y
– Bounds o
c nd G
n , a
– Algorithms
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se

– Bounds
h t l o
– Algorithms i g
r on z a
p y
– Bounds c o d G
n , a n
• Fisher information
• Uplink vs downlink ti
o h
i z a r s c
a l
• Performance examples
e e
o c m
• Synchronization
o s
L W y ad
– Algorithms
5G nk r a n
e
H co - G
Se
z = m(x) + n, n ⇠ CN (0, ⌃)
T = rx ⌧ (x) 2 R2⇥L
J(x) = < r m(x)⌃ 1 rH m(x)
x x Chalmers University of Technology
z = m(x) + n, n ⇠ CN (0, ⌃)
6.2 Angle Performance
andJ(x)
delay
= < rx m(x)⌃ 1 H
boundsrx m(x)
L
X1
H
.2 Angle and y(t)
delay=W Hl Fx(t ⌧l ) + WH n(t)
• Received l=0
waveform
t
L
X1
y(t) = WHHl = hH
l alrx (✓rx,l )a⌧H
Fx(t l )(✓
tx W)H n(t)
+tx,l
g h a l o 2
L
X1
l=0
i
r on z
y
H
H(t) = H = hllaarx
h (✓rx,l
rx(✓ )aH
rx,l)a (✓tx,l
tx(✓ tx,l)) (t ⌧l )
metrics. In Section III, the conventional
p
l tx protocol description,
operation and
• we introduce
l=0
Xperformance
o
Channel parameters and location parameters
L
H(t) = thehjoint
1
positioning G
are described. Then, in Section IV
c nd
H and node pairing protocol,
sk
↵
its operation and performance.
= kxk/c
⌧0l=0
n ,
l arx (✓rx,l )atx (✓tx,l ) (t
Finally,
⌧l )
numerical
a
results for
✓rx,k
o
✓rx,0
a realistic scenario are given in Section V, followed by the
i
y
conclusions⌧l in kx vVI.
=Section
a t
l k/c, l > 0
⇣y⌘
c h
z s
⌧ = kxk/c p
i r
0
l ee
✓tx,0 = arctan II. S YSTEM M ODEL
✓tx,k
✓x l > 0 ◆
⌧l = kx
a
Modelvl k/c,
D2
A. Geometric
We ✓consider =
o c m
a MIMO
arctan
✓tx,0tx,l= arctan
⇣ y ⌘y yl
o s
mm-wave system consisting of a q
✓tx,0
x
L W y ad
device D1 with Nt antennas x x
⇣ yand
⌘ beamforming capabilities and
x l
✓
a device D2 with Nr antennas,
◆
y yrespectively. The 2-dimensional
5G nk n
✓ 1 = arctan +
l ⇡ ↵ D1
a
locationsrx,0 of D1 and D2 are
✓tx,l = arctan x denoted ◆ by p = [px , py ]T 2 R2
r
2 x ✓ xl
and q = [qx , qy ] 2 R⇣, respectively,
T
⌘ y yl and let ↵ 2 [0, 2⇡) be
the angle
✓rx,t
✓rx,0
H e
of rotation
==arctan
G
arctan
-
y
with respect to the horizontal
+x ⇡ x ↵ + ⇡ ↵axis of the
v
D2 antenna array. Thesex parametersl in turn imply an AOD
Figure 1. Two-dimensional MIMO system model with a D1 with known
1 orientation, and a D2 with unknown position (p) and orientation
position and
Virtual anchorsc o
✓tx,0 and an AOA ✓rx,0 , as✓depicted ◆
y yl in Figure 1. Note that un-
Se can also be in terms of scatterers and points of incidence

• der our
✓rx,t have no physical meaning for scatterers
definitions,
= arctan cos(✓tx,0 ) = (px p+ y )/⇡kq ↵pk , and ↵ =
x x
⇡ + ✓tx,0 ✓rx,0 . We also introducel ⌧0 = kq pk /c, where c
• is the speed of light. We will assume q is a known reference
Parametrization The transmitter can sequentially send training sequences
(TS) using beams in different directions, leading to a signal
point, so that the knowledge of = [p, ↵]T is equivalent to model fm x(t), where fm,n 2 {0} [ S1 , in which S1 denotes
the knowledge of [⌧0 , ✓tx,0 , ✓rx,0 ]. The environment can also the unit circle:
© Henk Wymeersch, Gonzalo
contain scatterers, hereSeco-Granados,
modeled as points, 2017-2019
with locations sk , 95
k 1. We further introduce ⌧k = kq sk k /c + ksk pk /c, fm = (4)
✓ ✓rx,t =◆ arctan +⇡ ↵
y yl x xl
✓tx,l = arctan Chalmers University of Technology
x xl
⇣y⌘ LX1
✓rx,0 = arctan + ⇡ =↵WH
m(t) Hl Fx(t ⌧lparameters
)
Fisher information x✓ matrix
◆
of channel
l=0
y yl
✓rx,t = arctan + ⇡T T ↵
• Unknown parameterx x⌘l = [✓R , ✓ T , ⌧ T , h T ]T
• Noise-free observation ✓R
h t l o
g a
LX1 ✓R
m(t) = WH
✓
Hl Fx(t ⌧Tl ) 7 i
r on z
l=0 ✓T ⇢Z
p y
• FIM has entries 0
✓R (x, x ) = ⌧ <
2
o
c nd G
@mH (t) @m(t)
0
dt
,
T T T T T N0 @x @x
⌘ = [✓R , ✓T , ⌧ , h ]
✓R ✓T ⌧
i
h
o n a
✓ h
a t c h
z ✓✓rs
L T ✓
i
R
⌧7
hc a l e e ✓
RR
⌧
o m
✓
✓✓
o s R
T
h L y
TT
✓ d
J=
G W n a ⌧
T
This part was
5 nk r a ⌧⌧ available in delay
e
H co - G ⌧h
hh domain
h
S e
5L real parameters
✓T
⌧ Chalmers University of Technology
⌧ h
Fisher information matrix of channel parameters
h J(✓R , ✓R )
• Each sub-block (e.g., J(✓R , ✓R ), J(✓R , ⌧ ) ) is Hadamard product
J(✓R , ⌧ )
h t l o
Receiver Transmitter i g
rgain on
Signal &
z a
⦿ ⦿ y
p componentG
component component
o
c nd
n , a
t i o h
i z a r s c Tends to diagonal when paths
l
Tends to diagonal when paths
have distinct AOA
c a e e s
have distinct delays (for large
LoTends m dopaths
(for large number of receive signal bandwidth)
antenna)
W y
to
aAOD
diagonal when
G
5 nk(for large rnumber a n
have distinct
of transmit
e
H co - G
antennas), under full MIMO
• Conclusion:eeach sub-block will be almost diagonal

S
x✓ ⌧
◆
y yl
✓rx,t = arctan +⇡ ↵ ⌧ Chalmers University ofhTechnology
x xl
h J(✓R , ✓R )
Fisher information
L
X1
matrix of channel parameters
J(✓R , ✓R ) J(✓R , ⌧ )
m(t) = WH Hl Fx(t ⌧l )
• Original FIM
l=0 • J(✓
Rearrange
R, ⌧ ) ⌘ = [⌘0T , ⌘1T , . . . , ⌘L
parameters T
1]
T
T
⌘ = [✓R , ✓TT , ⌧ T , hT ]T
h t l o
⌘ = [⌘0T , ⌘1T , . . . , ⌘L
⌘ = [✓ , ✓ , ⌧ , h ] T
1]
T T
ig] nza
l rx,l tx,l l l
⌘ = [✓ , ✓ , ⌧r, h T
✓R
z }| {
✓T
z }| {
R T ⌧
z }| { z }| { z }| {
R
p y I
z }| { z }| {
o
l rx,l
z
tx,l l 1
}|
l
{ z
2
}| {
1 2 1 2 7 1 2 1 2 1 2
o
1 2 1 2
c nd G ✓R , ✓T , R , T , ⌧, R , I ✓R , ✓T , R , T , ⌧, R, I
{
1 ✓R
z}|{ z}|{ z}|{ z}|{ z}|{ z}|{ z}|{
✓R
2
1
i o n a
✓T
h
R
t
✓T
}|
a
2 1 T
R
1
2
i z
l ee r s ⌧
a
R
re-order
c m
1
s
I
{z
o
T
o
2 ✓R
⌧ 1
L W y ad ✓T
5G nk
2
n
R
a
}|
1 2 T
r
R
2 ⌧
I
1
2 e
H co - G z
R
I
Se Each path provides independent information

J(✓R , ✓R ) ⌘0
⌘2
J(✓R , ⌧ )
⌘2
Fisher information
⌘ = [⌘0T , ⌘matrix
T
1 , . . . , ⌘ Tin position
L 1 ] T space
⌘1
T
T ⌘l T= [✓rx,l
T , ✓tx,l
T , ⌧l , hl ] ⌘1
• Remove
⌘˜ = [xchannel
↵ v1 . . .parameters
vL 1 ] with Schur complement
• Introduce parameter⌘of 0 interest ⌘
h t
˜ = [xT ↵ v1T . . . vL
T
l o
1]
T
• J
Determine FIM
E
(x, ↵)
i
r ong z a
J(⌘)˜ = TJ(⌘)T⌘ T2
p y
o invert G
T = r ⌘(⌘) ˜ 2R (2L+1)⇥3L
, c nd
n
˜
⌘
⌘
o
vi ]
. . .t
1
h a
a c
T T T T
⌘˜ = [x
FIM can ↵
bevnonsingular
z SLAM)s
1 L 1
i
J(⌘) =l T J(⌘)Ter
(Potential for snapshot
a
T
e
˜
o c m o s invert
•
of positionL
Compute EFIM
y
E
10 J
W
(x, ↵)
a d
• From
G T = r ⌘( ˜ 2R n
and orientation
5EFIM nwekcomputerPEB
⌘)˜
⌘
(2L+1)⇥4L
a and OEB
• EFIM cane
H co -
be expressed G as sum over the paths
Se

– Bounds
h t l o
– Algorithms i g
r on z a
p y
– Bounds c o d G
n , a n
o h
i z a r s c
a l
e e
o c m
• Synchronization
o s
L W y ad
– Algorithms
5G nk r a n
e
H co - G
Se
Uplink vs downlink
Downlink Uplink
h t l o
i
r ong z a
p y
Unknown
o
c nd G Unknown
n ,
orientation
a
orientation
Beam in known direction

t i o h
Beam in unknown direction
FIM in channel space
i z a r s
FIMcin channel space Same
a lAOD ee Position relates to delay, AOA

c m FIMosin location space
Position relates to delay,
o
L scaling.
FIM in location space
W y a d
G
Leads to different
5 nk a n Different!
e G r
H co -
Se
Questions
• Is it better to do downlink or uplink positioning?
•
t
Is it better to focus energy or provide more coverage?
h l o
•
i g
Is it better to send beams sequentially or in parallel?
r on z a
•
y
Is it beneficial to have more receive antennas?
p
•
o
c nd
Is it beneficial to have more transmit antennas?G
•
n ,
Is it beneficial to have more bandwidth?
a
•
t i o h
Where should I place antennas? Transmitter or receiver?
i z a r s c
To answer, we need: al e
o c m e o s Known state
LmetricsWy ad
• A reference scenario
5 G
• Performance
• Quantities to bekmaintained a n
e n G r Unknown state
H co -
Se
Reference scenario
• Transmitter at [0,0], receiver at [10, 2], each 32 antenna ULA, OFDM
h t
with 32 subcarriers, 100 MHz bandwidth, 30 GHz carrier
l o
•
g
TX has hybrid array, RX has fully digital array
i
r on z a
•
p y
BS has orientation 0, UE has orientation !/4 (i.e., looking towards BS)
o G
Known state
• Codebook:
, c nd
– DFT codebook centered around 0 direction
i o n a
– Directional codebook bounded to –!/4,+ ! /4 Unknown state
a t c h
i z
l ee r s
a
90 90
6 6
c m
120 60 120 60
o 4
o s 4
L W y ad
150 30 150 30
5G nk n
2 2
180 0
r a 0 180 0 0
210 e
H co - G 330
210 330
Se
240 300
240 300
270
270
7 beams from a DFT codebook 7 directional beams

Reference with 20 beams
• Directional (left) vs DFT (right)

90 90
h
6
t l o
a
6
i g
120 60 120 60
y r on
4 z
p
4
o G
150 150 30 30
, c nd 2
i o n a
t h
180 0 180 0 0 0
i z a r s c
a l ee
210
o c m 210 330
o s 330
L W y ad
5G nk a n
240 300 240 300
r
270 270
e
H co - G
Se
Metrics and preserved quantities
• Metrics: PEB and REB

• Preserved metrics: total energy during positioning
h t l o
– More beams: less energy per beam
i g z
r(longerotime) a
p y
– More subcarriers: less energy per subcarrier n
o
c nd G
n , a
t i o space h
i z a r s c
a l e e
o c frequency
m o s
L W y ad
5G nk
Known state
r a n
e
H co - G
Unknown state
Se time

DFT codebook: impact of receive antennas

codebook: DFT; use all beams =0 codebook: DFT; use all beams =0
10 0 10 -1
h t l o
10
-1
i g
r on z
10 -2
a
p y
10 -2
o
c nd G 10
-3
n , a
10
-3
t i o h
10 -4
a c
0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60 70 80 90 100
i z r s
l alwayseehelps REB and PEB: increased SNR
•
Sequential vs o
a
More receiver antennas
c transmission: s performance (more noisy,
•
not shown)L
parallel
y m d o
similar
G W n a
• PEB:5 downlink
n k
PEB
r a
better for low N , since UL needs many Rx
r
similar H
e
antennas to determine
- Gposition via AOA (DL uses AOD)
•
c o
REB, but for large N , AOD estimation is better in DL
r
S e
Impact of UE orientation
10 1 10
1
t
10 0
10 0
g h a l o
i z
-1
10
y r on
p
-2
10
o G
-1
10
, c nd 10 -3
10
-2
i o n a 10
-4
h
0 0.5 1 1.5 2 2.5 3 3.5 0 0.5 1 1.5 2 2.5 3 3.5
a t s c
i z
l ee r
a
c sincemAOD andodelay s estimation is always good.
•
o
PEB: DL not affected,
L can point y d
In UL, beams
G W a
in wrong directions
n
• REB:5UL
k
similar,
n
but
r a
DL PEB also affected, since AOA estimation is not
e
possible along
H co - G
the end-fire direction
Se
DFT codebook: impact of number of beams

-1
10
10 0
h t l o
10
-1
i
r ong10
-2
z a
p y
10 -2
o
c nd G
10 -3
n , a
10 -3
t i o h
10
-4
c
0 5 10 15 20 25 30 35 0 5 10 15 20 25 30 35
i z a r s
• PEB: DL needs 6 beams
a l for UEeeto be in coverage, UL needs 19.
o c formmore beams,
Performance degrades s
o UL needs 1 (and is close
as they spread energy in
to mainG
L
uninteresting y
directions.
W
DL needs d
a power before UE is fully
2 beams,
beamsnreducing
5 nk lobe, with more
r a
e
illuminated)
H - G
• REB: UL needs
c oDL more pronounced with larger UE orientation
many beams before SNR is high.
Se
• Difference UL vs

DFT codebook: impact of transmit antennas

10 -1
0
10
h t l o
10
-1
i g
10 -2
r on z a
p y
10 -2
o
c nd
10
G-3
n , a
10 -3
0 20 40 60
t i o
80 100
h 120
10 -4
0 20 40 60 80 100 120
i z a r s c
•
a
More TX antennas leadsl to
e
narrower
e
beams, allows to focus on the
user
o c m o s
L W AODyrange of 20 d
• After 20 antennas,
GBS is out of coverage n
a beams gets progressively smaller:
5
– UL:
k
– DL: UE isnout of coverager a in UL after 103 antennas
in UL after 32 antennas
e
H co - G
Se
DFT codebook: fixed total number of antennas

-1
codebook: DFT; use all beams =0
codebook: DFT; use all beams =0 10
0
10
h t l o
g a
-2
10
i
r on z
-1
10
p y
o G
10 -3
c nd
-2
10
n , a
o
10 -4
i
10 -3
t h
0 10 20 30 40 50 60 70
0 10 20 30 40 50 60 70
i z a r s c
•
l
Significant impact of UE
a more transmit
PEB in UL: bettercwith e e antennas
orientation in UL
•
o m o s
• PEB in DL: L y
better with more
W
receivedantennas
a
5 nkG a n
e G r
H co -
Se
DFT codebook: #beams = #TX antennas

-1
10
10 0
h t l o
10
-1
i
r on
10
g -2
z a
p y
10 -2
c ndo 10
G -3
n , a
10
-3
t i o h 10 -4
c
0 10 20 30 40 50 60 70
a
0 10 20 30 40 50 60 70
i z
Result for directional lcodebook e r s
•
c a e is similar
coverage,s
• UL: more beams o leads
L W y ad m
better
o but reduced power per beam
5G nk r a n
H coe - G
Se
DFT codebook: impact of bandwidth

codebook: DFT; use all beams =0 -1
codebook: DFT; use all beams =0
10
0
10
h t 10
-2
l o
g a
10 -1
i
r on z
p y 10 -3
G
-2
o
10
, c nd
n a
-3 -4
o
10 10
i
0 1 2 3 4 0 1 2 3 4
10 10 10 10 10 10 10 10 10 10
a t c h
i z
Result for directional lcodebook is r s
•
c ma e e similar
s
•
o
REB does not care about
Lwith more y
bandwidth
bandwidth,d
o
• PEB reduces
(UL) orG W n a but then becomes limited by AOA
5 k onlyruseful
AOD (DL) estimation
n a is number of antennas is large
•
enoughHe
Increasing bandwidth
- G
c o
• Beamsquint was
S e ignored here

Number of antennas vs inter-element spacing

• ULA with 10 vs 40 elements
• ULA with l/2 spacing vs 2 l spacing
h t l o
i
r ong z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
H coe - G
Sesame resolution, but larger spacing creates ambiguities
• Figure shows log-likelihood function for AOA estimation
• Both achieve

Summary
• 1 RF chain is enough, but we need multiple transmissions

• More RX antennas is always good
h t l o
• i g
r on
More bandwidth is good, but only up to a point
z a
•
p y
For joint position & orientation estimation: equal number of
antennas at TX and RX o
c nd G
n , a
t i o
• Precoding and combining must be designed with care
h
• Questions
i z a r s c
a l ee
– What about synchronization?
o c m
– What about NLOS?
o s
L W y ad
5G nk n
– What when LOS is blocked?
r a
e
H co - G
Se

– Bounds
h t l o
– Algorithms i g
r on z a
p y
– Bounds c o d G
n , a n
o h
i z a r s c
a l
e e
o c m
• Synchronization
o s
L W y ad
– Algorithms
5G nk r a n
e
H co - G
Se
Results
• 3D scenario (unknown [position, azimuth, elevation])
• 12 x 12 arrays at TX and RX
h t l o
• 38 GHz carrier, 125 MHz bandwidth (beam squint ignored)
i
r ong z a
• 1 mW transmit power, 16 training symbols
p y
• Single path and 4 path channel
o
c nd G
• No combining (W = I)
n , a
t i o
downlink
h
uplink
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
H coe - G
S e
Abu-Shaban, Zohair, et al. "Error Bounds for Uplink and Downlink 3D Localization
in 5G mmWave Systems." IEEE Trans. on Wireless Communications, vol. 17, pp.
Fig. 5. August 2018.
4939-4954, A cell sectorized into three sectors, each served by 25 beams directed towards a grid o
(left)
© Henk and towards
Wymeersch, GonzaloaSeco-Granados,
virtual grid 2017-2019
in uplink (right). The grid has the same orientation as the
122 UE.
Single path (LOS) with 6 beams
Orientation error bound [deg]

h t l o
Position error bound [m]
i g
r on z a
y
50 0.5 50 0.35
45
o p0.45
G
45
0.3
40
, c nd 0.4 40
n a
35 0.35 35 0.25
30
t i o h 0.3 30
a c
0.2
25
i z
l ee r s 0.25 25
a
0.15
20 0.2 20
15
o c m o s 0.15 15 0.1
10
L W y ad 0.1 10
5G nk n
0.05
a
5 0.05 5
0
-50
e 0
G r 50
0 0
-50 0 50
0
H co -
Se
Four paths (including LOS) with 6 beams
Orientation error bound [deg]

h t l o
Position error bound [m]
i g
r on z a
y
50 0.5 50 0.35
45
o p0.45
G
45
0.3
40
, c nd 0.4 40
n a
35 0.35 35 0.25
30
t i o h 0.3 30
a c
0.2
25
i z
l ee r s 0.25 25
a
0.15
20 0.2 20
15
o c m o s 0.15 15 0.1
10
L W y ad 0.1 10
5G nk n
0.05
a
5 0.05 5
0
-50
e 0
G r 50
0 0
-50 0 50
0
-
H coScatterer locations
Se
Single-base station positioning

1
0.9
h t l o
0.8
Multipath
helps! i g
r on z a
p y
0.7
o
c nd G
0.6
Maps
n
help! , LOS is good, but
a
o
not needed
a t i c h
s
0.5
i z
l ee r
0.4
a
c m s
0.3
o
L W y ad o
5G nk a n
0.2 Beamforming
helps in the
beams
e G r
H co -
0.1
R. M. Buehrer, H. Wymeersch and R. M.
Se
Vaghefi, "Collaborative Sensor Network
0
Localization: Algorithms and Practical
10 -1 10 0 10 1 10 2
Issues," in Proceedings of the IEEE, vol.
106, no. 6, pp. 1089-1114, June 2018.

Single-base station mapping

1
0.9
h t l o
0.8
i g
r on z a
p y
0.7
o
LOS is good, but
c nd G
,
not needed
n a
0.6
t i o h
0.5
i z a r s c
l ee
Loss if scatterers
Location
a are not in beams
0.4
c m
helps a little
o o s
L W y ad
0.3
5G nk a n
0.2
e G r
-
0.1
H co R. M. Buehrer, H. Wymeersch and R. M.

Vaghefi, "Collaborative Sensor Network
Se
0
0 1 2 Localization: Algorithms and Practical
10 10 10
Issues," in Proceedings of the IEEE, vol.
106, no. 6, pp. 1089-1114, June 2018.


– Bounds
h t l o
– Algorithms i g
r on z a
p y
– Bounds c o d G
n , a n
o h
i z a r s c
a l
e e
o c m
• Synchronization
o s
L W y ad
– Algorithms
5G nk r a n
e
H co - G
Se
Single-base station localization: clock offset

3 • Most existing studies ignore the tx-rx synchronization.
t
• Two alternatives to solve the clock offset:
g h a l o
1. The existence features in the environment allows the clock
i
r on z
synchronization using only one-way transmissions.
p y
2. Two-way transmissions. 6
o
c nd G x VA,2
,
5
i o n a
4
a t c h 3
z
z s
2
a i
l ee r 1
c m s
0
xBS xVA,3
o
L W y ad o
80
xVA,4
5G nk n
60
xVA,1
a xUE F
e G r 40 e
c
H co -
H. Wymeersch, N. Garcia, H. Kim, G. Seco-
20 ↵UE
r
Se
Granados, S. Kim, F. Wen, M. Fröhle, "5G 0
mmWave Downlink Vehicular Positioning", x
0 -10 -20
IEEE Globecom, Dec. 2018. 20 10
t
-20 50 40 30
80 70 60
y
Z
Summer
© Henk Wymeersch,
School on 5G
Gonzalo
V2X Communications,
Seco-Granados,June
2017-2019
11th, 2018 136
Fig. 1. Scenario with one
© Henk Wymeersch, 2018base station (blue), one vehicle (heading shown e
with an arrow), and 4 virtual anchors (each corresponding to a vertical wall).
Fisher Information Analysis

S
erms of
ment the identifiability
h t l o
sis.
10 1
i
r ong z a
p y
o
c nd G
n , a
ameters
t i o h
sitions),
10 0
i z a r s c
a l ee
rs. The
o c m o s
ameters L W y ad
variance 10
5G nk
-1
r a n
G
0 2 4 6 8 10 12
of the
e
H conditions -
Sufficient
+ 1a e
o
c pathof (with
for localization and synchronization:
(23)
Fig. 4.• PEB
with and
LOSas
Spaths
• 3without
NLOS
function
NLOS
a LOS(2 path,
the number
NLOSwithwithand
of NLOS
or without map) paths for 8 combinations:
map)without knowledge of the map (VA
positions), and with and without a known clock bias.
with the© Henk Wymeersch, 2019 138
Intuition: Visualization without LOS paths

• Each AOD determines a line from the BS
•
t o
Given a certain guess of the clock bias and orientation, each AOA
h l
determines a line from the user
i g
r on z a
correct ,B
p y correct , wrong B
100
o
c nd G 100
,
50
n
50
i o h a 0
t
0
z [m]
z [m]
c
-50
-50
BS
i z a r s -100 BS
l ee
SP UE
SP UE SP
a
-100 SP -150 SP
SP SP
c m
SP
s
100 SP 150
o o
SP
100
L W y ad
50
50
5G nk n
0 0
-50
r a -50
y [m]
-100
-150
e
H co
-50
- G 0
50
100
150
200
y [m]
-100
-150
-200 -50 0 50 100 150 200 250
Se
-100 -150 -100
x [m] x [m]
Wymeersch, H., 2018. A Simple Method for 5G Positioning and

Synchronization without Line-of-Sight. arXiv preprint arXiv:1812.05417.

Single-base station localization: clock offset

3 • Most existing studies ignore the tx-rx synchronization.
t
• Two alternatives to solve the clock offset:
g h a l o
1. The existence features in the environment allows the clock
i
r on z
synchronization using only one-way transmissions.
p y
2. Two-way transmissions. 6
o
c nd G x VA,2
,
5
i o n a
4
a t c h 3
z
z s
2
a i
l ee r 1
c m s
0
xBS xVA,3
o
L W y ad o
80
xVA,4
5G nk n
60
xVA,1
a xUE F
e G r 40 e
c
H co -
Z. Abu-Shaban, H. Wymeersch, T. Abhayapala, G.
20 ↵UE
r
Se
Seco-Granados, “Single-Anchor Two-Way 0
x
Localization Bounds for 5G mmWave Systems: Two 0 -10 -20
20 10
t
-20 30
Protocols”, arXiv:1805.02319. 80 70 60 50 40
y
Z
Summer
© Henk Wymeersch,
School on 5G
Gonzalo
V2X Communications,
Seco-Granados,June
2017-2019
11th, 2018 140
Fig. 1. Scenario with one
© Henk Wymeersch, 2018base station (blue), one vehicle (heading shown e
with an arrow), and 4 virtual anchors (each corresponding to a vertical wall).
Two-way single-base station localization
• Second alternative: use two-way transmissions
h t l o
i
r on g z a
Forward Transmission
p y
c o d G
Backward
n ,
Transmission
a n
D 1
t i o h D 2
i z a
F , W , s (t), y (t), n (t)
r sF c, W , s (t), y (t), n (t)
l
1 1 1 1 1 2 2 2 2 2
✓ , ,N ,N a
c ,a , e e s
✓ , ,N ,N ,a ,
1 1
o 1
NoLclock bias y
B1
m 1
d o
1 2 2 2 B2 2 2
G W n a Clock bias: B
5 Transmit
n kat t = 0 r a
G Transmit at t = t b
H e
Receive at o -
c Receive at t = ⌧
b f
t=⌧
S e
Summer
© Henk Wymeersch,
School on 5G
Gonzalo
V2X Communications,
Seco-Granados,June
2017-2019
11th, 2018 141
Single-base station mapping: clock offset

D1 D2
t=0
⌧ +B
t
y2 (t)
Distributed s1 (t)
g h a l o
i
⌧f = ⌧ + B
Localization Protocol
(DLP)
y r on z ⌧D
o p G tb = ⌧ˆf + ⌧ D
, c nd
⌧ b = 2⌧ + ef + ⌧ D s2 (t)
i o n y1 (t)
a ⌧ B
a t c h (a) Distributed Localization Protocol
i z
l ee r s D1 D2
c a t=0
s
Centralized o
L W y ad m o
s1 (t)
⌧ +B ⌧f = ⌧ + B
y2 (t)
5G nk n
Localization Protocol t b
B
(CLP)
r a
G
t = tb
H coe - ⌧ b = ⌧ + tb B s2 (t)
Se
⌧
y1 (t)
(b) Centralized Localization Protocol
©
Summer
Henk Wymeersch,
School on 5G
Gonzalo
V2X Communications,
Seco-Granados,June
2017-2019
11th, 2018 142
h t l o
i g
r on z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e - G
H co angles of 0, and N = N
Se25 beams.
CDF of PEB with UE orientation UE BS
=144 antennas, N = B
©
Summer
Henk Wymeersch,
School on 5G
Gonzalo
V2X Communications,
Seco-Granados,June
2017-2019
11th, 2018 143
h tUE and BSlohave a

r i g •
z a
p n
y • o25 beams in both
12x12 array.
c o d G
n , a n
links providing
SNR>17dB is 90% of
t i o h
i z a r s c locations.
a l e e
• f=38 GHz
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
Summer
© Henk Wymeersch,
School on 5G
Gonzalo
V2X Communications,
Seco-Granados,June
2017-2019
11th, 2018 144

– Bounds
h t l o
– Algorithms i g
r on z a
p y
– Bounds o
c nd G
n , a
– Algorithms
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se

J⌧ ,⌧ J⌧ ,↵ Chalmers University of Technology
J(⌘) =
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Complete
J(⌧ ) = J⌧ ,⌧ flowchart
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J⌧ ,↵ J↵,↵ JT
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Position information
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T
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J(x) = T J(⌧ )T
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estimation
e e 1
Data
s
association
H
mapping
L o r m(x)
x
y m d o x
gle and delay G W n a

5 n k r
•
a – Trade-off between accuracy and coverage
PRS design: beamformers and signal’s design.
y(t) = W
X
e
H Fx(t
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⌧ ) +-
H co n(t)• Extend
H
W
l
G H
– Trade-off between com and loc.
l
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complex environment: clutter, reflecting surfaces,
l )a (✓ )
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Gonzalo tx (✓tx,l ) (t2017-2019
Seco-Granados, ⌧l ) 146
l=0
Signal design
• Question: how should the BS signals be designed to allow for the best
6
possible angle estimation?
h t l o
•
g a
Approach: formulation convexified optimization problem
i
r on z
y
110° 90° 110° 90° 110° 90°
70° 70° 70°
o p G
, c nd 10 dB 10 dB 10 dB
Gain precoder f1
i o n a
Gain precoder f2
Gain precoder f3
a t c h 0 dB 0 dB 0 dB
Aggregated gain
i z
l ee r s
a
c m s
10 dB
o
L W y ad o
(a) AoD-AoA-optimal precoders (b) AoD-optimal precoders (Prob- (c) AoA-optimal precoders (Prob-
5G nk n
(Problem 1). The rank of X is 2. lem 2). The rank of X is 2. lem 3). The rank of X is 3.
a
Fig. 2. Array gain of the precoders vs. azimuth for all M precoders. The Tx and Rx are equipped with 30-antenna half-wavelength inter antenna spacing
r
uniform linear array (ULA) [38]. The number of training sequences is M = 3. The AoD (same for the AoA for simplicity) is known a priori to lie in the range
G
e
Data communication
[90°, 100°], indicated by the yellow shaded area. According to Section III-C, the optimality of these precoders is ensured because for all cases M rank X.
H co - Channel information
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Mobility
Precoders for Tracking the AoD and AoA
pressions we can conclude that the combining of a matrix impacts that the precoders radiate some non-negligible energy in
Downlink communication
themmWave Path”, inofIEEE
identifiability Transactions
the AoA, on Signal
and that the precoding matrix directions outside the prior range RTx , even though an initial
Positioning and
Processing, 2018. Channel estimation Data association
impacts the identifiability of the AoD only. For the particular assumption was that the precoders do not illuminate mapping
any paths
case of a fully digital Rx (W = I), the AoA is identifiable for other than the desired one. In addition, there may be some
most©common
Henk Wymeersch, 2019[39], [40], whereas for arbitrary
types of arrays operational constraints such as low sidelobe ratio [41] for 147
combiners, the conditions for which the AoA is identifiable improved inter-user interference or the placement of nulls in
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T
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n
J(x) = T J(⌧ )T
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t
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l i
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estimation
e e 1
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s
association
H
mapping
L o r m(x)
x
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e
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W
l
G H
l
H = h a (✓Se
H
l )a (✓ )
l rx rx,l tx tx,l
L
X1
H
H(t)
© Henk= hl arx
l=0
1
⌘2 J(x) = < rx m(x)⌃ rH
x m(x)
⌘⌘
22
6.2 Angle
Algorithms ⌘1
and delay
⌘⌘ 11 L 1
T
⌘˜ = [x ↵ v1TT T T
. . . vy(t) T X
• Observation TLT 1 ]=TW T HTT Hl Fx(t ⌧l ) + WH n(t)
⌘˜⌘˜==model
[x[x ↵↵vv 11 . . . .
v v ]
LL 1 1 ]
t
T
˜ = T J(⌘)T
J(⌘)
o
l=0
h l
TT
J(J(
⌘)˜⌘)
˜ ==TT J(⌘)T J(⌘)T
E
J (x, ↵) EE
r ong
Hl = hl arx (✓rx,l )aH
i z a tx (✓tx,l )
• We want to estimate
T = r⌘˜ ⌘(⌘)˜ 2R
JJ (x, (x,↵)
TOA,
(2L+1)⇥4L
↵) AOA,
y
X1 AOD and L
L
p
• We knowTT= =rr
that ⌘ ⌘(
˜each
˜ ⌘(
⌘ ˜⌘)
⌘) 22RR
H(t)
˜path =
o
(2L+1)⇥4L
(2L+1)⇥4L
c nd
provides G
hl aindependent H
rx (✓rx,l )atx (✓tx,l ) (t ⌧l )
information
parse model n
• Use sparsity to extract channel parameters, l=0
a
Sparse
7 Sparse model • model
Idea: Nr x Dr
⌧ =ti
o
Dr x 1
h
a(✓ ) = U a za
i
H
kxk/c
0
r s c
a(✓ ) l= U a e
rx,l r s H
me
a(✓
a
)
Each column in Ur is the
= U
rx,l
rx,l
⌧a = kx
e
H v k/c, l > 0
r rl s s if (i) true langle is in dictionary and
c ✓ m= arctan ox s
1-sparse ⇣y⌘
o (ii) all columns are orthogonal
L =by
response to a possible angle
L 1
↵ a(✓G)a (✓ )eW✓
XSame for transmitter d
tx,0
a +y n[k]y
HH ✓ ◆
n
• a(✓
a(✓ ) )=side b UU
tx,l t t Ts )
s sl /(N If dictionary is well chosen: 1-sparse
5a(✓a(✓ )an)a k(✓(✓ ) )==UUraaabb UU ⇣ x⌘ x

H H tx,l j2⇡k⌧
y[k] = W l rx,l tx,l = Fs[k]
arctan matrix withlrow = AOA, column = AOD
HH tx,lHH HH
e + n[k]-✓G = arctan y + ⇡ ↵
l=0 rx,l
rx,l tx,l
tx,l rr ssss t t l
at time
H H
= W U H [k]U
r X H
sL 1t Fs[k]
↵ a(✓ c )ao(✓ ) = U H U x✓
H rx,0 H
X Se
= • So l rx,l tx,l r ◆s t
L
l=01 y y l
H ✓ H = arctan +⇡ ↵
L-sparse
rx,t j2⇡k⌧l /(N Ts )
C y[k]
Dr ⇥Nr
Uat 2time
r
= W
and U 2 C↵
t
a(✓ )a
l Drx,l (✓ )e Fs[k] + n[k]
are dictionary matrices that make
t ⇥Nt tx,l x x l
parse. Under a perfect
l=0 dictionary (that contains the responses asso-
HLX 1
ith actual AOA=W and
H UAOD)
H
r Hs [k]U Hst[k] Hwill+be
Fs[k] n[k]exactly
j2⇡k⌧l /(NL-sparse
Ts ) with entries
y[k] = W ↵ a(✓ )a (✓ )e Fs[k] + n[k]
7 Sparse model
a(✓rx,l ) = UH
r as
Choosing a good dictionary

a(✓tx,l ) = bH
s Ut
• a(✓rx,l[a(✓
For ULA )aH (✓
rx,l )])k==UeHr j⇡k
tx,l
sin ✓rx,l
as bH
s Ut
, k = 0, . . . , Nr 1
• When
L
h t
X1 angles take on value sin ✓rx,l = 2l/Nr , l 2 {0, Nr
l o
1}
a
↵l a(✓rx,l )aH (✓tx,l ) = UH
• DFTl=0matrix is a reasonable r Hs Ut
i g
dictionary
r on z
p y
G
 ✓ ◆ ✓ ◆
Ur = a
2( Nr /2 + 1)
,...,a
2(Nr /2)
o
c nd Exactly on a DFT angle
 ✓
Nr
◆
Nr
n , a
= a 1+
2
, . . . , a (1)
t i o h
Nr
i z a r s c
at time
In practice: anglesa l ee
•
L
X1
o c grid: m
exactly on the DFT
not
o s
L sparse y d
H
y[k] = W ↵l a(✓rx,l )aH (✓tx,l )e j2⇡k⌧l /(N Ts )
Fs[k] + n[k]
approximately
l=0
G W n a
•
= W H UH
5 nk
Example: 64 antennas
r Hs [k]Ut Fs[k]
r a
+ n[k]
=
e
H co - G
Se 9

l where= U
vec(Y[k]) r 2 sC
A[k]h + n[k] and Ut 2 C are dictionary matrices that m
where A[k] 2 CNr T ⇥DH
r Dt D⌧
2s [k] sparse. 3Under a perfect dictionary (that contains the responses as
ciates A[0]
with actual AOA and AOD) Hs [k] will be exactly L-sparse with ent
A[k]
y =↵= 4e[X[k]u
Y[k] A[1]
=
j2⇡k⌧W H T5
l⌧/(N
1
X[k]u
U H
. . . X[k]u
.hs⌧s1[k]U
sr) H t FX[k] ⌧D⌧+] N[k]
l
Channel estimation
A[N 1] algorithm Ideally L sparse with entries
= X[k]U T T T H H
vec(Y[k]) = S⌧ [k]F Ut ⌦ W Ur hs [k] + n[k] ↵l exp( j2⇡k⌧l /(N Ts ))
| {z }
X[k] =
where U⌧ 2•CDOFDMr Dt ⇥D⌧signal on subcarrier X[k] k: Y[k] = WH UH r Hs [k]Ut FX[k] + N[k]
so across• allVectorize
subcarrieres
N
X 1
+ n[k]
= A[k]hs vec(Y[k]) =
h tS
|
T
[k]F
l o
T T
U t
{z
⌦ W H H
Ur hs [k] + n[k]
}
minimize ky[k]
vec(Y[k])vec(Y[k])
= y[k] ==
[k]hsT[k]k2 +
XA[k]h[k]FTs U +T
kH
i
r ong
⌦s W
tn[k]
k
z a
2,1H H
Ur hs [k] + n[k]
X[k]
k=0
Nr T ⇥Dr Dt 2
p
3 y = A[k]hs + n[k]
=where X[k] 2 C
• IntroduceNr T ⇥Dr Dt D⌧ A[0]
where A[k] 2 C o
c nd G For DFT dictionary: size Nr x Nt
y = 4 A[1]
, 5 h
[N 1]] =sy[k] = X [k]FT UT
Hs = [hs [0], . . . , hsvec(Y[k])
n a
T H H
t ⌦ W Ur hs [k] + n[k]
T
A[k]
[k] = =where
A[N
=T[X[k]uT
t i o
t 2 1C Ur ⌧1
⌦ N
1]
h
Hr T ⇥D
X[k]u H rD . .t . X[k]u⌧D⌧ ] Try to find sparse
c
X [k]F U
X[k] W
a
⌧
where
i z
l ee r s
X[k]⌧2=CNr T ⇥Dr Dt D⌧
A[k]
= X[k]U vectors with common
a
support
where U⌧ 2 CDr Dt ⇥DNX
o
⌧
c m
• We can recover AOA / AOD by solving
1
o s A[k] = [X[k]u⌧1 X[k]u⌧1 . . . X[k]u⌧D⌧ ]
so acrossminimize L W y ad
all subcarrieres ky[k] [k]hs [k]k2 = + X[k]U kHs k⌧2,1
5 G k U 2C r
k=0
a n
•
n
Can be solved
where
e
with OMP
vec(Y[k])
⌧
G
= A[k]h + n[k]
Dr Dt ⇥D⌧ s
•
H codictionary
Then recover so
gains
-
across all subcarrieres
(closed
2 form) and
A[0]
3 delays (line search per path)
•
S e
Refine by adapting
y = 4 or post-processing
A[1]
A[N 1]
5 h
(e.g., SAGE)
vec(Y[k]) = A[k]h + n[k]
s s
2 3
A[0]
X[k] =
9
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 y=4 A[1] 5 hs 151
A[N 1]
Example
• Matlab example
h t l o
i g
r on z a
p y
o
c nd G
Matlab implementation available on
n , a
https://github.com/henkwymeersch/
t i o h
5GPositioning
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
H coe - G
Se

J(⌘) =
JT
⌧ ,↵ J↵,↵
Complete
1
J⌧ ,↵ J↵,↵ JT
⌧ ,↵
⌘˜ = [xT , v T ]T
t
Data
˜ = T J(⌧ )T
J(⌘) T
communication
g h a l o
˜ 2R
T = r ⌧ (⌘) 2L⇥L
Channel information
r i n z
y
˜
⌘
˜
⌘ = [x] T
Position p
o information
G o
PRS / SRS design
T
, c n d Mobility
n
J(x) = T J(⌧ )T
i o h a
t
2⇥L
a c
x
l i
J(x) = < r m(x)⌃ c a

estimation
e e 1
Data
s
association
H
mapping
L o r m(x)
x
y m d o x

5 n k r
•
y(t) = W
X
e
H Fx(t
L 1
⌧ ) +-
H co n(t)• Extend
H
W
l
G H
l
H = h a (✓Se
H
l )a (✓ )
l rx rx,l tx tx,l
L
X1
H
H(t)
© Henk= hl arx
l=0
rx,t
⌘x0 xl
N
X1 Chalmers University of Technology
L
X 21
minimize ky[k] [k]hs [k]k + kHs k2,1
m(t) = WH ⌘2Hl Fx(t ⌧l )
Geometric:k=0from angles and
l=0
delays to positions
• We have estimates of ⌘ = [✓ T
, ✓ ⌘,1⌧ T , hT ]T
T
Hs = [hs [0], . . . , hs [N 1]]
R T
Use transformationTto T⌘˜ =T[xT ↵ H
t
T T T
•
[k] = X [k]F Ut ⌦ W 1Ur L 1 v .
H . . v ]
g h a l o
• Apply Extended Invariance Principle (EXIP) and
solve the following non-linear least7square problem: i
r on z
p y
minimize k⌘ˆ ⌘(⌘)k
˜
⌘ ˜ 2
o
c nd G
n , a
Initialize by
t i o h user
a c
BS
l i z
1. When LOS path exists: use (AOD,delay)
then r s
of path with
shortest delay to recover position,
c a e e (AOD,AOA) to
path by path. s
recover orientation. Then virtual anchors (or scatterer
L o
locations) are easily
y
recovered m
2. When LOS path does not exist: try all a d o
5 W
G eachk(AOD,AOA,delay) a n possible
r
orientations: gives rise to a path.
each guess.e
n
Intersection of two
G
9 position.
paths is Evaluate cost for
H
3. When not know if c
-
oexists: try (1) and (2) and evaluate
3 paths are needed in total.
BS user
Se
LOS
cost.

Chalmers University of Technology 2
22
metrics. In Section III, the conventional protocol description,

Results: 4 path channel
operation and performance are(including LOS)
described. Then, in Section IV sk
we introduce the joint positioning and node pairing protocol, ↵
✓rx,k
its operation and performance. Finally, numerical results for
✓rx,0
10
2
a realistic scenario are given in Section V, followed by the y
conclusions in Section VI. RMSE(α̂)
t
p
o
RMSE(α̂) [rad]
0
II. S YSTEM M ODEL
h l
10 OEB
REB ✓tx,k
g a
D2
A. Geometric Model
i z
✓tx,0
r on
10
−2
We consider a MIMO mm-wave system consisting of a q x
y
device D1 with Nt antennas and beamforming capabilities and
p
a device D2 with Nr antennas, respectively. The 2-dimensional
o G
−4 D1
10 locations1 of D1 and D2 are denoted by p = [px , py ]T 2 R2
−6
, c nd
and q = [qx , qy ]T 2 R2 , respectively, and let ↵ 2 [0, 2⇡) be
the angle of rotation with respect to the horizontal axis of the Figure 1. Two-dimensional MIMO system model with a D1 with known
n
10
a
−30 −25 −20 D2−15antenna array.
−10 These parameters
−5 in 0turn imply 5an AOD 10 position and orientation, and a D2 with unknown position (p) and orientation
o
i
✓tx,0 and SNR
an AOA ✓
(in rx,0
dB) , as depicted in Figure 1. Note that un-
a t c h
der our definitions, cos(✓tx,0 ) = (px py )/ kq pk , and ↵ =
⇡ + ✓tx,0 ✓rx,0 . We also introduce ⌧0 = kq pk /c, where c
z s
The transmitter can sequentially send training sequences
i r
2
10 is the speed of light. We will assume q is a known reference (TS) using beams in different directions, leading to a signal
a l ee point, so that the knowledge of = [p, ↵]T RMSE(p̂) is equivalent to model f x(t), where f
m m,n 2 {0} [ S1 , in which S1 denotes
c m
s
RMSE(p̂) [m]
PEB
PEB
o
contain scatterers, here modeled as points, with locations sk ,
o
0
10
(4)
L W y ad
k 1. We further introduce ⌧k = kq sk k /c + ksk pk /c, fm =
as well as the AOD ✓tx,k and AOA ✓rx,k , as shown in Figure  T
1 j
5G nk
0 Nt Nt0 ej 0 . . . e Nt 1 0 Nt Nt0
0
n
1. p ,
Nt 0
a
−2 2 2
10
e G r
B. Communication Model in which Nt0  Nt indicates the number of active contiguous
We consider communication at a carrier frequency fc , or antennas [21]. Special cases include
H co -
equivalently wavelength = c/fc , where c is the speed of
−4
10 i 2 {0, ⇡, ⇡/2, ⇡/2} (5)
−30 −25 −20 light,
−15and bandwidth
−10 −5 employ a0 narrowband5 model2 10
B . We
where theSNR
channel(inNdB)
r ⇥ Nt matrix is given by [19], [20] and
Se
j 2⇡di sin ✓m
KX1 p
A. Shahmansoori, G.E. Garcia, G. Destino, G. Seco-Granados,
i =e , Wymeersch (6)
H.
H
H(t) = Nt Nr hk arx“Position
(✓rx,k )atx (✓and (t ⌧k ), (1)
tx,k )Orientation Estimation
in which through
✓m is the Millimeter Wave
direction of the beam,MIMO
choseninfrom
5Ga given
| {z }
k=0 Systems”,
=H k
IEEE Transactions set on ⇥.
Wireless Communications,
The design parameters of thevol. 17,patterns
beam no. 3, consist
pp. of
1822-1835, Mar
path, 2018. the maximum gain direction ✓max and the half-power beam-
7. RMSE in dB scale for the NLOS plotted in which hreceived
against k is the complex
SNR gain
for of the k-thangle
rotation a(top) ) 2 position
tx (✓tx,kand (bottom) in the
C Nt
and arx (✓rx,k ) 2 C Nr
are the normalized antenna width angle, ✓HPBW , which is the angle where the squared
© Henk
ence of a scatterer Wymeersch,
located at sk [m]Gonzalo
= [1.5, 0.4] T
Seco-Granados,
steering
. Theand 2017-2019
redresponse
lines vectorsthe
show associated with the k-th
corresponding path. magnitude of the radiation pattern decreases by 50% from
bounds. 155the
p peak of the main lobe, and it depends on the type of antenna,
For the LOS path, we set h0 = exp( j2⇡fc ⌧0 )/ ⇢0 , where
⇢0 = kq pk⌫los is the path loss between D1 and D2, and and operating frequency, among other parameters. For any
Chalmers University of Technology 2
23
metrics. In Section III, the conventional protocol description,
Results: 3 path channel
operation and performance arewithout
described. Then, inLOS
Section IV sk
we introduce the joint positioning and node pairing protocol, ↵
✓rx,k
its operation and performance. Finally, numerical results for
1
RMSE(α̂), ∆α [rad] = 0.01
a realistic scenario are given in Section V, followed by the y ✓rx,0
10
conclusions in Section VI. RMSE(α̂), ∆α [rad] = 0.05
t
p
o
RMSE(α̂) [rad]
II. S YSTEMOEB
REBM ODEL
h l
✓tx,k
g a
0 D2
10 A. Geometric Model
i z
✓tx,0
r on
We consider a MIMO mm-wave system consisting of a q x
y
device D1 with Nt antennas and beamforming capabilities and
p
−1 a device D2 with Nr antennas, respectively. The 2-dimensional
G
10
o
D1
locations1 of D1 and D2 are denoted by p = [px , py ]T 2 R2
, c nd
and q = [qx , qy ]T 2 R2 , respectively, and let ↵ 2 [0, 2⇡) be
the angle of rotation with respect to the horizontal axis of the Figure 1. Two-dimensional MIMO system model with a D1 with known
n a
−2
10 D2 antenna array. These parameters in turn imply an AOD position and orientation, and a D2 with unknown position (p) and orientation
o
−30 −25 −20 −15 −10 −5 0 5 (↵).
10 The AODs ✓tx,k and AOAs ✓rx,k are also indicated.
i
✓tx,0 and an AOA ✓rx,0 , as depicted in Figure 1. Note that un-
t h
SNR (in dB)
der our definitions, cos(✓tx,0 ) = (px py )/ kq pk , and ↵ =
3
i z a r s c
⇡ + ✓tx,0 ✓rx,0 . We also introduce ⌧0 = kq pk /c, where c
is the speed of light. We will RMSE(p̂),
assume q is a ∆α known[rad] = 0.01 The transmitter can sequentially send training sequences
reference
l ee
10 (TS) using beams in different directions, leading to a signal
point, so that the knowledge ofRMSE(p̂), is equivalent
= [p, ↵]T ∆α [rad] =to0.05
a
model fm x(t), where fm,n 2 {0} [ S1 , in which S1 denotes
c m
s
PEB
RMSE(p̂) [m]
2
contain scatterers, here modeledPEB
o
10 as points, with locations sk ,
10
1
L W y ad o
k 1. We further introduce ⌧k = kq sk k /c + ksk pk /c,
as well as the AOD ✓tx,k and AOA ✓rx,k , as shown in Figure
fm =
1

j
T
(4)
5G nk
0 Nt Nt0 ej 0 . . . e Nt 1 0 Nt Nt0
0
n
1. p ,
Nt 0
a
2 2
r B. Communication Model in which Nt0  Nt indicates the number of active contiguous

0
10
e G We consider communication at a carrier frequency fc , or antennas [21]. Special cases include
10
−1
−30
H co
−25 - −20
equivalently wavelength = c/fc , where c is the speed of
light,−15
and bandwidth
where theSNR
−10 B . We
channel(in
−5 employ a narrowband
0 5model
⇥ Nt matrix is given by [19], [20]
Nr dB)
2
10
and
i 2 {0, ⇡, ⇡/2, ⇡/2} (5)
Se
2⇡di
j sin ✓m
K
X1 p
A. Shahmansoori, G.E. Garcia, G. Destino, G. Seco-Granados, i =e , Wymeersch (6)
H.
H
H(t) = Nt Nr hk arx“Position
(✓rx,k )atx (✓and (t ⌧k ), (1)
tx,k )Orientation Estimation
in which through
✓m is the Millimeter Wave
direction of the beam,MIMO
choseninfrom
5Ga given
| {z }
k=0 Systems”,
=H k
IEEE Transactions set on ⇥.
Wireless Communications,
The design parameters of thevol. 17,patterns
beam no. 3, consist
pp. of
1822-1835,
of the k-th Mar atx (✓tx,k ) 2 the maximum gain direction ✓max and the half-power beam-
path, 2018.
. 8. RMSE in dB scale plotted against receivedinNSNR
which hk is the complex gain
for rotation angle Nr (top) and position (bottom) width in theangle,
OLOS with, which
✓HPBW three is the angle where the squared
t
C and arx (✓rx,k ) 2 C are the normalized antenna
© Henk
tterers located Wymeersch,
at sk [m] = [1.5, 0.4Gonzalo
+ 0.5(kSeco-Granados,
−steering
1)]T for 2017-2019
andkresponse
= 1, 2,vectors
3 andassociated
∆α [rad] with
= the path. magnitude
k-th 0.05}.
{0.01, The red of the radiation pattern decreases by 50% from
lines show the 156the
p peak of the main lobe, and it depends on the type of antenna,
For the LOS path, we set h0 = exp( j2⇡fc ⌧0 )/ ⇢0 , where
responding bounds. ⇢0 = kq pk⌫los is the path loss between D1 and D2, and and operating frequency, among other parameters. For any
instance, the message from B to f⌧l (xUE , B
D. Positioning and Mapping Algorithm given by
Once data association has been performed, we have associ- Y
ated with each measurement zl either an existing VA, a new µB!f⌧l (B) = p(B) µf⌧ 0 !B (B
l
From angles & delays to positions:
VA (with uniform prior), or a false alarm. Assuming no false Bayesian approach l0 6=l
alarms, we re-order the VA indices to match the measurement 4 All likelihoods, except for LOS DOD, send m
indices.
• FactorThe global posterior
graph. Thedistribution can then
objective isbetoexpressed the UE position
obtain the posterior variable, and so do NLOS
distribution
as to VA position variable. For instance, the me
h t
of the position parameters given the channel parameters.
l o f⌧l (xUE , B, xVA,l ) to xUE is given by
p(xUE , ↵UE , B, xVA,1 , . . . , xVA,L 1 |Z)
i g
r on z a (17)
Z
y
L
Y1 µf⌧l !xUE (xUE ) = µB!f⌧l (B)
= p(xUE )p(↵UE )p(B)
p
p(xVA,l )
o G
(18)
c nd
l=1 ⇥ µxVA,l !f⌧l (xVA,l )f⌧l (xUE , B, xVA,l )d⇠
⇥ p(z0 |xUE , ↵UE , B)
L
Y1
n , a
p(zl |xUE , ↵UE , xVA,l , B).
t i o h
Now, the outgoing messages from the UE po
c
l=1
the VA position towards all the likelihood fun
•
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Perform belief propagation
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We make a tacit assumption that factors are removed when be computed, so we can go back to step 1 .
Needs schedule l e
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After a sufficient number of iterations between st
the o
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Allows the introduction
the algorithm is stopped and approximate marginal
5G tracking n
information
belief propagation on a factor graph representation of (18), 4 The proposed technique can be applied, with minor mod
k andra
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G
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Localization performance
h t l o
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c no penalty.
convergence, unknown bias leads to 1 meter penalty. Unknown
S e
orientation incurs
© Henk Wymeersch et al 2018 158

Synchronization performance
h t l o
i
r ong z a
p y
o
c nd G
n , a
t i o h
i z a r s c
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L W y ad
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c no penalty.
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S e
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Orientation estimation performance
h t l o
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r ong z a
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o
c nd G
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t i o h
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e
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Performance
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S e
Mapping performance
h t l o
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Granados, Sunwoo Kim, "5G mmWave Vehicular

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Hyowon Kim, H. Wymeersch, Nil Garcia, G. Seco-
i
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Question: how can the channel estimates be associated to prior map
r on
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Mobility
mapping
map entry per path), find best global association (x). Hard decision works when
Positioning and
163
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Data association: factor graph approach

J. Williams and R. Lau, “Approximate
Evaluation of Marginal Association Probabilities
Communications
• and Networking
Introduce dataConference (WCNC)
association (DA) variables (a,b) with Belief Propagation,” IEEE TAES, 2014.
•
t o
Create factor graph with vehicle state, VA states, DA variables
h l
at t=n≠1 t=n i g
r on z a t=n+1
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Measurement
likelihood, VA
K, vehicle 1
DA for vehicle 1
Figure 2. Factor graph representation of the posterior PDF (9). A label close
◆ to a vertex represents an incoming message to that vertex. Note that messages
Frohle, Markus et al"Cooperative localization of vehicles without
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 inter-vehicle measurements." WCNC, 2018. 165
t 0 , bm,s,t0 ) are functions of the variable appearing in the adjacent variable vertex. In the
ch could be false or oth- tainty of the function f ($) . This subsection extends the trajectory-conditioned PHD
F oV (Xk ), the summation term of (23) is then domi-
measurement [z 1 f z z] T mapping recursion to the SLAM problem. With the hind-
nated by ck (z|X
umber of detections can Map k ). Space
State
Since Modeledthe measurement
as an RFS
is likely to
be a false alarm, it contributes little to the total posterior sight of FastSLAMChalmers University
[6], the most obviousofextension
Technology
of PHD
large number due to the The number of features in the map state can vary from zero to
nd multiple false featurealarms. count, as it should.
some arbitrarily On theIdeally,
large number. otherit should
hand, grow
if the
mono-
mapping [10] to SLAM is to exploit the factorisation (14),
mponents of thenumber Data association: random finite set (RFS) approach
vector oftonically as features
false alarms enter cthe
is low, FoV kof) the
k (z|X This fur-(15), (16), e.g. PHD for mapping and particle filtering for
sensor(s).less
dominates
the actual detections ther justifies the contributes
and the measurement need for a set-based
more map value of con-localisation. This technique requires the computation of the
representation
to the
order. Therefore,the a more taining
posterior individual feature states as follows:
PHD. posterior density of the vehicle trajectory in (16), in particular
t is a finite 3) observation
• Represent
gk (z|m, Xk ). Assume the that the number of VAs
sensor model is as a random
accurate, the set
terminstead of a ,random
gk (Zk |Z0:k−1 vector
X0:k ), which requires set integration,
ixed order and has ele- !
t
thus gk (z|m, M= Xk ) is 4large for the m (nowhich
featuresproduces
present) z.
o
etections
h l
m 1 present) gk (Zk |Z0:k−1 , X0:k ) =
If z is consistent
M = with {m 1prior
} (one feature with
information (the state
observation p(Zk , Mk |Z0:k−1 , X0:k )δMk .
, f, [r z i z] T } . model),(1) the = {m 1, mwill
Mnumerator 2
} dominate
(two features
the summation
i
r ong
m 1 ! m 2 present)
of
z a + probability density for each hypothesis (24)
y
(23). Conversely h if ghk (z|m, Xk ) is small and the mea- This set integral is numerically intractable and a naive ap-
p
1 m 1 m
n be considered tosurement
collect = {m , fto
M unlikely
is , m be m features
} (from m !
m, its g ! m present) . proach is to directly apply the EKF approximation proposed
corresponding
1
urements z , f, z term z
from in
• The probability hypothesis density (PHD) can o
a the summation will have little influence.
c d G
approximate the
for FastSLAM [32]. However, an EKF approximation cannot
RFS density (think mean
A graphical depiction of a the posterior PHD after two con-
n ,
state, PHD a
Relating RFS Measurements to the SLAM State
and variance for vectors) n
be used since the likelihood (24), defined on the space
o
secutive measurements, approximated by a Gaussian Mixture, of finite-sets, and its Fast-SLAM counterpart, defined on a
i
res detected) To encapsulate detection uncertainty as well as spatial mea-
t h
7
is shown • Typical approach: particles for vehicle
respectively innoise,
Figures for map conditioned on vehicle state
2 and 3.features from a vehicle withEuclidean space, are two fundamentally different quantities
c
surement the detected
a
1
re z detected)
s z 1, z 2 detected)
The predictor of . This comprises
Z k(22)
i
l eez
is formed by the
r s
pose X k at time k can be mathematically modeled by an RFSand it is not known how they are even related. Therefore,
the union
sum ofofa set theofprevious
features expectedin this case, it is fundamentally incorrect to use the EKF
a
h
PHDtoof be the
generated
set ofunder
staticthe current hypothesised
map estimate and to a set ofapproximation in [6] as it will not result in a valid density,
c m
PHD and the(2) features
, f , z z detected) .
enter the sensor’sfalse FoV
o
detections.
due to Importantly,
vehicle motion.
o s each setThe encapsulates
corrector the afore-and thus its product with (15) cannot give the joint posterior
of (23) is governed
ions in Z as well as the
mentioned
L' Wy ad
by thedetection
following and spatial
sensor uncertainties,
characteristicsand hence of the map and pose.
5G nk n
[17]: Fortunately, by rearranging (15), it can be seen that
z i are random in nature,
a
D k (m, X k) , C k (X k),
7 >
Zk = gk (Zk |Z0:k−1 , X0:k ) is merely the normalising constant,
r
atm !mM is 1not
1) PD (m|Xk ). If a feature k
44 2 in44F3 oV (X k ), it
G
All observed, thus PD (m|Xk )False
Expected
could not have been
ndom VectorFrom (23),
e’s current pose state is H coe
Features
- Features
= 0.
Features (4) gk (Zk |Z0:k−1 , X0:k ) =
gk (Zk |Mk , Xk )pk|k−1 (Mk |X0:k )
p k (M k |X 0:k )
(25)
.
Se
ng vector X k , containing
X = true vklocation
(m|X
where0:kD )= k (mv,k|k−1
X k) is (m|X
the RFS0:k of)[1 − 0 + 0] generated by a
measurements
Fig. 2. A sample map PHD at time k−1, with the true map represented by Fig. 3. The map PHD from figure 2 and the measurement
Note in the above, that the LHS does not contain the variable at time k. Note that
ientation black
z k at time=kmeasurements
Lines
crosses. . feature
The measurementat location
at k−1 misand C k (X k) isbythe
represented theRFS of the
yellow spurious
dashed the features at (5,-8) are resolved due to well separated measurements, while
at M close M
cle states lines. i.e. possi-
are also the updated PHD equals the predicted
k, which PHD, as no vehicle k , while
a lone the
false RHS
alarm has to ktheinfeature
bothmeasurement
the denominator and
The peaks ofmeasurements
the PHD represent at time locations withmay depend
highest on the
concentration (-1,-4), contributes
freedom state new
of expected information
variables,
numberpose Xisk . available.
of features. Z k The 1
= {zlocal 2
On
k, z k, f
k
PHD,the
z other
z k }mass
consists hand,
in theofregionif m
a random isnumber,
of most to numerator.
the local PHD In At (-5,-4)M
essence,
mass. k in likelihood
a small (25) is over
a dummy variable,
all measurements,
i
oll pitch and yaw
in Fisangles
features oV of the
(Xkz)k and
1, indicating spatial measurements
Ppresence
D (m|X k )1≈
of 1, the
feature. z k ,The
whose
localorder
summation massofoverappearance
close to coupled
and thuswith a (25)
moderate
holds ck (z|X
for ) results
kany in a reduced
arbitrary choicelocalofmass.
Mk . This
Mullane, John, et al. "A random-finite-set approach to
ng velocity, acceleration,
some© Henk
unresolved
all measurements has no tends
Wymeersch,
features physical
(for Gonzalotosignificance
instance dominate. with
Seco-Granados,
at (5,-8)) is Thenrespect
closer to 2, to the estimatedallows
2017-2019
demonstrating
the predicted the SLAM."
Bayesian substitution
IEEE T. of any choice
on Robotics, (2011). of Mk to evaluate
166
the unique ability of the PHD function to jointly capture the number i of
ective of the complexity
PHD is modified map of by features. For each
the sum m ! M k and
feature,dependent
of terms onz kthe
! Z k, gk (Zk |Z0:k−1 , X0:k ). This is an important result, which al-
features.
Summary
• In mm-band: few multipath components, lots of bandwidth

t
• Paths resolvable in delay or angle: use AOA, DOA and TOA
h l o
• In delay domain: i g
r on z a
– Static: multipath positioning
p y
o
c nd G
– Dynamic: simultaneous localization and mapping (SLAM)
n , a
• In angle & delay domain:
t i o h
i z a s c
– Static: multipath position and orientation estimation with
r
a l ee
single anchor
o c m
– Dynamic: SLAM also possible
o s
L W y ad
5G nk n
– Beamforming plays an important role
• Questions: r a
e
H co - G
– What about angle and delay spread?
Se
– What about real measurements?
– What about mobility? Multi-user positioning?
Outline

h t l o
r on z a
p y
c nd G
n , a
i o
t h
i z a s c
r
• Conclusions
a l ee
o c m o s
L W y ad
• References
5G nk r a n
e
H co - G
Se

h t l o
2. Large bandwidths
o
c nd
p y
i g
r on
G
z5G
a
n , a
t i o h
4. D2D communication ???
i z a r s c
a l ee
5. o c m
L W y ad
5G nk r a n
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H co - G
Se
Cooperative positioning: idea
Improved accuracy Improved coverage
h t l o
i
r ong z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e - G
H coand RX have unknown position?
What is benefit of measurement with both TX
Se
Cooperative positioning: outline
• Algorithms h t l o
i g
r on z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
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Cooperative positioning model

• Network with N agent nodes (Ia), M reference stations (Ir)
Graph with vertex set V and edge set E
•
h t l o
• Measurements zij = f (xi , xj ) + nij , (i, j) 2 E
i
r ong z a
• Many possibilities
p y
– distance, AOA, AOD estimate , c
– Sampled waveform
o
More local
d G
o n a n
processing
– Relative position
a t i c h
•
i z
Highest level of abstraction:
l
z =
rx
s
ij x +n
i j ij
c a e e s
o
L W y ad m o Statistics from 5G
G
5 nk 3
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e G r or from PEB
H4 co1 - 2
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2 minimize J(⌘) ky[k]
= [k]hs [k]k2 + kHs k2,1
ky[k] [k]hs [k]k + kHs k2,1
minimize⌘˜ k⌘ˆ ⌘(⌘)k ˜ 2 k=0 Chalmers University of Technology
X
J(xi , xi ) = rxi (xi xk )⌃ik1 rT xi (xi xk )
8 [hs [0],
= Cooperative Cooperative positioning: Fisher
. . . , hs [N 1]] k2Ni information
Hs = [hs [0], . . . , hs [N 1]]
X T T T H H
1
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= X [k]F Ut• ⌦Unknowns: H H
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ij = X [k]F U t ⌦ W Ur
⌘ = [x , . . . , x ]
1 N j2Ni
• Observations: zij = xi xj + n=ij , nX
J(⌘) ij ⇠ N (0,
1 ⌃ij )
⌃ij +
X
h t⌃ij1 2
l o
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( yr
nimize⌘˜ k⌘ˆ •⌘(Fisher
˜ 2 information matrix
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n
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x
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9 Cooperative J(x , x c
0 (i, j) 2 /E
, ⌃ d (i, j) 2 E
)=
n
i j 1
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T T T
[xT T T ⌘ = [x , . . . , x ]
⌘= 1 , . . . , xN ]
c
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i z a r s
j
l
J(⌘) =
J(⌘) =
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Lo Wym J(xad, xo) = r (x x )⌃ r (x
i X
1 T
i i xi i k i xk )
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5G nk n k2Ni
r a X
1
G
= ⌃
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j2Ni
X
ij
Se
1 1
= ⌃ + ⌃ ij ij
j2Ni \Ia j2Ni \Ir
(
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 0 (i, j) 2
/E 173
J(xi , xj ) =
⌃ij1 (i, j) 2 E
10 Cooperative ij ij
j2Ni \Ia j2Ni \Ir
⌘= [xT T T
1 , . . . , xN ]
(
J(⌘) = 0 (i, j) 2
/E
Cooperative J(x
positioning:
i , x ) =
j Fisher information
X ⌃ij1 (i, j) 2 E
J(xi , xi ) = rxi (xi xk )⌃ik1 rT
xi (xi xk )
• k2NiJ(⌘) = Jref + Jcoop
Fisher information matrix C
X 3
Block-diagonal from
= ⌃ij1
h t l o
g 1a
j2Ni
references X
=
Reduction of yr
⌃ij1 + i 4
X
n z ⌃ij1 2
Block-diagonal from
other agents informationp
j2Ni \Ia
o since other
G o
j2Ni \Ir
c
(
,
agents
n
have
n
0
d
unknown (i, j) 2
/E5
a
J(xi , xj ) =
o ⌃ij1
position (i, j) 2 E
a t i c h
s
J(⌘) = Jref + Jcoop C
i z
• Example (for equal covariance
l ee
per
rlink)
2
c ma 2I 0 0
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I
s
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0 0 I
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3
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0
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0
0 5
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cooperation r
Singular withoutn
p(x1,t 1 |y1:t 1 ), p(x2,t 1 |y1:t 1 ), p(x3,t 1 |y1:t 1 )
H e - G 11p(xi,t Full rank with cooperation

1 |z1:t 1 )
• PEB(x ) < PEB(c o N (x̂i,t 1|t 1 , Pi,t 1|t 1 )
Sereminiscent of graph Laplacian

1 x ) < PEB(x )
2 3
• FIM structure
p(x1,t 1)

12
Cooperative positioning: outline
• Algorithms h t l o
i g
r on z a
p y
o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
y=x x

2
v u
Algorithms
LS estimation
Static scenario
X
• cooperative
fLS (x) = LS/ML/MAP
(rk kx xkwith
k)2 steepest
h t l o
descent solver
x̂(k) = x̂(k 1)
k
✏rfLS (x̂(k 1)
i g
r on
) z a
X
p y
rfLS (x) = r(rk kx
o
c nd G
xk k)2
,
k
X
= 2 (rk
i o n kx
a xk k)
x xk
k
a t c h kx xk k
Mobility solution i z
• Can be initialized with SDP
l ee
or SOCP
r s
a
c m s
odel o
• Can be distributed
L W y ad o
5 G k a n
n filterGonrsuper-state
Dynamic scenario
• Extended e Kalman
-
N. Patwari, J. N. Ash, S. Kyperountas, A. O. Hero, R. L.
• ParticleH
yt = h(xt ) + vt , vt ⇠ N (0, Rt )
c o
filter on super-state
Moses and N. S. Correal, "Locating the nodes: cooperative
localization in wireless sensor networks," in IEEE Signal
S e
• Can be distributed p(xt |y1:t )
Processing Magazine, vol. 22, no. 4, pp. 54-69, July 2005.
p(xt |y1:t 1)
At time ©k Henk
1 Wymeersch, Gonzalo Seco-Granados, 2017-2019 176
p(x |y )
=4 0 3I I 5
I I I
N (x̂i,t 1|t 1 , Pi,t 1 ) 1,t 1 |y1:t 1 ),
1|t p(x p(x2,t 1 |y1:t 1 ), p(x3,t 1 |y1:t 1 )
Distributed tracking
p(xi,t 1 |z1:t 1 )
6
• p(xGaussian
At time t-1: local 1,t 1 ) distributions N (x̂i,t 1|t 1 , Pi,t 1|t 1 )
p(x1,t , x2,t , x3,t |x1,t 1 , x2,t 1 , x3,t 1 )

h t l o
• Prediction: local update as in Kalman filter
i g
r on , 1x ) a 3
p(x1,t 1 )
z
p y
x̂i,t|t 1 = Fi,t x̂i,t 1|t 1 + Bi,t ui,tp(x1,t , x2,t , x3,t |x1,t 1 , x2,t 1 3,t 1
o
c nd11 G 4 2
,
Pi,t|t 1 = Fi,t Pi,t 1|t 1 Fi,t + Qi,t
i o n a
a t c h 5
•
i z r
Correction: account for measurements
l s from references and neighbors
a
using belief propagation
c e e s
o
L W y ad m o
5G nk r a n
H coe - G
Se
Erik B. Sudderth et al, “Nonparametric Belief Propagation”, in
WYMEERSCH et al.: COOPERATIVE BAYESIAN SELF-TRACKING FOR WIRELESS NETWORKS

Example
• 100 mobile agents with low or high mobility
0 from [0 , 2 π) and
t
10
g h a l o Gaussian distribu
i
r on z σmob ∈ {1, 10 } m
p y respect to one ano

o
c nd G every node is assu
,
−1
10 x100 gain
of cooperation on a the a priori distri
i h
(eth )
a t c SPAWN is a gen
CCDF
i z
l ee r s localization scena
Pout
a
c m Non-coop, sσ = 10 in which each age
o
−2
10
L Wy Non-coop, d o mob
the direction of it
G n a σ = 10 σ =1 mob
&
5 nk r a Coop, σ = 1
Coop, mob (t) (t−1)
p xi |xi ,
e
H co
10
−3
- G mob
Nodes also perfo

e
0 2 4 6 8
e [m]
S Localization error [m]
th
Wymeersch, Henk, Ulric Ferner, and Moe Z. Win. "Cooperative Bayesian self-
tracking for wireless networks." IEEE Communications Letters 12.7 (2008).
The distribution p
tally derived mod
Fig. 2. Comparison of outage probability at t = 30 for cooperative and non- from [2]. 178
This mo
© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019
cooperative self-tracking in a network with 100 mobile agents, with σmob = 1
and σ = 10. N = 1 and results are averaged over 30 randomly deployed ranging errors as
Summary
• 5G can harness D2D communication

• Extra information to improve accuracy
h t l o
• i g
r on
Distributed algorithms for cooperative tracking
z a
• Extensions for SLAM
p y
• Synchronization challenges o
c nd G
n , a
t i o h
i z a r s c
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
Outline

h t l o
r on z a
p y
c nd G
n , a
i o
t h
• Conclusions
i z a r s c
• References
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
Position information in the initial access (IA) problem

2
• Narrow beams: high SNR but where to point?

d, with the aim of reducing the
ccess procedure for short-range sk
h t l o
gain insight in the fundamental
he evolution of the Fisher infor-
i g
r on z a ↵
✓rx,k
y
✓rx,0
orientation as new transmissions y
to D1 in order to adapt the
o p G
c nd
crete and continuous codebooks p
is evaluated through simulations,
metrics the set-up time, signal-to-
✓tx,k
n , a
D2
o
✓tx,0
nd orientation error bounds. We
d protocol is significantly faster
q
a t i c
x
h
col based on discretized beam
NR penalty, and can additionally
i z
l ee
D1
r s
entation of D2.
a
c m s information. Use this
model and performance • metrics.
al protocol description, operation
o
L W y ad
Use out-of-band
(↵). The AODs ✓ o
is structured as follows. Section Figure 1. Two-dimensional MIMO system model with a D1 with known
position and orientation,technology
and a D2 with unknown
and AOAs ✓ are
toposition
also
provide
indicated.
position
(p) and orientation
5G nk n
tx,k rx,k
information to improve IA.
d. Then, in Section IV the joint
ion protocol, its operation
• We
r a
andnow know: in-band can also be used
in which hk is the complex gain of the k-th path, atx (✓tx,k ) 2
Finally, numerical results for a
in Section V, followed by the e
H co G
CNt and arx (✓rx,k ) 2 CNr are the normalized antenna steering
-
and response vectors associated with the k-th path. For the
LOS path, we set h0 = exp( j2⇡fc ⌧0 )/ ⇢0 , where ⇢0 =
p
Se
(2⇡kq pk/ )⌫los is the path loss between D1 and D2, and
EM M ODEL ⌫los is the path-loss exponent. For the NLOS paths, we set
p
hk = exp( j2⇡fc ⌧k )/ ⇢k , in which ⇢k = (2⇡(kq sk k ⇥
m-wave system consisting of a ksk pk)/ )
⌫nlos
[2].
Nt antennas and beamforming Our focus will be on uniform linear arrays3 (ULA), for
device D2 with Nr antennas, which
nal locations1 of D1 and D2 are Nt 1 1 2⇡ld
channel estimation procedure and | · | is the cardinality of a 25
Average Channel Estimation Dura

set.
PK Even if the AOD/AOA is perfectly known a priori (i.e.,
AOD = 20º and 70º, no prior knowledge
AOD = 20º, GNSS precision
k=1 |S(k) | = 0), at least one transmisson is necessary for 20 AOD = 20º, high precision
estimating the channel gain. AOD = 70º, GNSS precision
AOD = 70º, high precision
V. N UMERICAL R ESULTS
Benefit of out of band location
In this section, we quantify the performance of adaptive
15
information
10
channel estimation when location information is available to
the system.
• Location information provides angle
5 information
t
A. Simulation Set-up
We consider the scenario of Fig. 4 versus the distance
g
0
h a l o
i z
between the BS and the vehicle for two AODs: 20 and 70 . 20 40 60 80 100 120 140 160 180 200
These two angles have been selected as their performance
y r on Distance [m]
o p
is similar to all other angles. The scenario consists of a Fig. 5. Average channel estimation time versus distance. The time time axis
G
BS (infrastructure) with known position, and a vehicle is graded in “symbol durations”.
whose position is uncertain. Different levels of precision are
t written assumed
, c nd
n
35
a
30 in regards to the vehicle position estimate. This
o
AOD = 20º, no prior knowledge
on of the position uncertainty is modeled as a disk whose center point
i
Average Channel Estimation Duration
t h
30 AOD = 20º, GNSS and high precision
ality of a is known
c
and whose diameter D depends on the positioning
a
25 AOD = 70º, no prior knowledge
iori (i.e., technology. The position
z s
AOD = 20º and 70º, no prior knowledge
of the vehicle is known to be 25
i r
AOD = 70º, GNSS and high precision
l ee
AOD = 20º, GNSS precision
ssary for inside 20 such a disk. AOD In practice,
= 20º, highthe disk could correspond
Receive SNR [dB]

a
precision 20
c m
to a confidence region. AODWe consider three levels of position
s
= 70º, GNSS precision
information:
15 (i) no AOD
position
= 70º,information
o
high precision (D = +1), (ii)
L W y ad
position information with Global Navigation Satellite Systems
adaptive (GNSS) precision (D = 10 m); and high precision position o
15
5G nk
10
10
ailable to information (D = 1 m).The simulations showed no substantial
improvement for precisions higher than 1 m.
r a n 5
e G
5
From Fig. 4, given a fixed AOD, the AOA is fixed to
-
0
✓ = ⇡
H co
. As the distance increases, the SNR decreases
distance due 0to the larger pathloss, however, it also narrows the prior -5
Se
20 40 60 80 100 120 140 160 180 200 20 40 60 80 100 120 140 160 180 200
and 70 . AOD range U and prior AOA range U . Thus, it is not
Distance [m] ✓ Distance [m]
ormance clear how performance is affected by distance when location
sts of a Nilinformation
Garcia,
Fig. Henkischannel
5. Average Wymeersch,
available. Erikthe
In
estimation G. Ström,
time numerical and Dirk Slock,
simulations,
versus distance. The time timeweaxis Fig. 6. Expected receive SNR versus distance.
vehicle “Location-Aided
is graded
have in “symbol
assumed durations”.
mm-Wave
that the Channel Estimation
transmitted energyforper
Vehicular
symbol Communication”,
is SPAWC 2016.
ision are 30 dBm, the vehicle’s receiver’s noise variance is 84 dBm
ate. This and Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 coarse location information (GNSS) drastically reduces the
© 35 182
the path loss model ofAOD [6]. =The figures
20º, no in this section channel estimation duration. Such reduction is larger as the
prior knowledge
ter point are 30 Monte Carlo simulationsAOD where theGNSS
= 20º, average is taken
and high over distance increases because the ranges of AODs/AOAs become
precision
6
Benefit of in-band position information
Sector Average SNR D-JPBS
Conventional hierarchical beam 20 1
search CBS
C-JPBS
1. Transmit with broad beams
15
h t l o
0.9
a
D-JPBS
i g
r on z
0.8
Normalized Number of Transactions

2. Feed back best beam 10
3. Refine beams and go to step 1

p y 0.7
o
c nd G
5
0.6
meters [m]
Modified hierarchical beam search
i o n a
0 0.5
1.
Feed back best beam and at
Transmit with broad beams
c h 5
0.4
2.
position information liz r s 0.3
ato step 1 ee s
10
Refine beams andc

0.2
Lo W y m ado
3. go 15
0.1
5G nk a n 20 0
0 5 10 15 20 25 30 35 40
5 10 15 20
meters [m]
e
25 30
G r
35 40 meters [m]
H co
Average SNR as a function of distance to D2. - Figure 3. Normalized number of transactions with respect to the conventional
beam selection protocol
Garcia, for the
Gabriel E.,discrete joint positioning
et al. "Transmitter BeamandSelection
beam selection
in
Se
protocol. Millimeter-wave MIMO with In-Band Position-Aiding."
arXiv preprint arXiv:1705.05668 (2017).
erate a signal x(t) with N = 64 symbols. We set
ng parameters such that the SNR given by (8) on the and hence the SNR is dependent on the discretization of the
al axis at 10 meters from D1 is 0 dB (i.e., the nominal beams. We conclude that the positioning-based protocols have
nication range is 10 m).
y, we B. Effective data rate
codebook size and the
mproved
stant,
orthogonal
PREB),
in which thebutoptimal
a vectors,are
beams those thatbeam
respectively. alignment
Specifically,
maximize strategy.
thelet fi and w
SNR: For simplicity,
j be
Under
the column the we assumed
consider
of a Discrete codebooks
F 2 andFourier Wand search strategy,
to comprise
Transform t = Nthe
N(DFT)b
Nand-sizeNrb = M
effectiveand ⇤ data
M rate
orthogonal
⇤-size ismaxgiven
matrices, |h|by
vectors, Ptx S(w, f , ✓,
respectively.
respectively. ) Specifically,
In addition, let fi and wj be
we consider Chalmers University of Technology
ontinuous [w , f ] = arg . (5)
array ✓
an exhaustive the ◆
column
search
w2W ✓
ofstrategy,
a Discrete 2
2 suchFourier that⇤ ⇤KTransform
◆
= ) N M . (DFT) Other N -size
bandwidth
ment N M T s
f 2F
|h| P tx S(w , f , ✓,
R= search and
1 strategies M -size log
(e.g., 2 amatrices,
1+
hierarchical respectively.
search) In well
as , (4) we consider
addition,
;se hClearly, C if Tf is an fixed,
Tf then trade-off between rate and as other
are
nals
the2 continuous
theoftraining
bandwidthcodebooks Rate / PEB tradeoff
overheadcan exhaustive
exists. Moresearch
be analyzed in strategy,
specifically, a similar
2
bysuch manner.
increasingthat InKaddition, = N M . Other
nsmission in which the optimal
search beams
strategies are those
(e.g.,and that maximize
hierarchical search)the SNR:as well as other
hedt(2) = 1; h we
2 the number
receive 2ofwill
Cantennas,assumethus thatthe thecodebook
MS BS are
size, theable pre-log to determine
factor the optimal
is reduced, codebooks
beams can that be |h|analyzed
maximize2 theinf SNR.
,a✓,similar) Performing manner. the In addition,
s the
-departure transmission ⇤thus ⇤ reducing the timePtx S(w,available for data
M transmission. analysis [w•
On the
,
whenf Model
we other
will
] =thisassume
arg max for
assumption
hand, w2W with is
communication
that more theremoved,
MS andisBS
2antennas,
.
a topic
SNRare able (5)
of furtherto determine
nant arepath.the receive
t
n Tgainsf, study. the thus
optimal beams the
f 2F thatlog maximize
factor. the SNR. Performing the transmission. Hence, there is a natural tension between rate
T
o
in (5) increase, increasing
f
angle-of-departure
h l
+ . For
ed to Clearly, if Tfanalysis is fixed, when t thisaassumption
Tthen trade-off between is removed, Td is and
rate a topic of further and PREB. Our goal is to understand and quantify this trade-
g a
he C.
erality,dominant
we B.path.Effective data rate
while PREB
i
from Fisher study. information off (see Figure 2).
z
the training overhead exists. More specifically, by increasing
r on
son. ⇡ ✓ + . For
=constant, Beam
1) the number Under ofB.the assumed
antennas, thus codebooks [pT ,and search strategy,
pre-log the
PREB definition: Introducing data the ⇠ , codebook size, with the an
y
T
s of generality, we Effectivealignment rate ↵, h] Data transmission III. R ATE AND PREB C OMPUTATION
p
associatedfactor effective
is
FIM reduced,
J data
, rate
thus
obtained is given
reducing
from by the
aggregating time available
information for data
G
is constant, ✓⇠ PEB ◆ strategy, the A. Codebook and search strategy assumptions
o
X(!)
near array Under as athe assumed
◆alignment
function ✓of the codebooks
beam training and overhead search PEB-Rate tradeo↵
during transmission.
the exhaustive On the
beam other hand, with 2 more the
strategy, antennas,
⇤ PREB SNR
c nd
Tf =• ,Effective data rate ⇤
N
1024TsFigure M T
2. Communication |h|
over P
frames S(w of , f
duration , ✓,
T , )
with data transmission
1effective data rate is given by T = 1024T , B=2048 , free-space propagation model, d=20 m, fc =60 GHz, M = N
2ateelement
R gains
comprised 10-1twoR (5)
in =components:
B=2048
increase, thus
sf ,
the
free-space
log
propagation
2 R.1+
increasing
position the
error
tx
model,
log
bound
d=20
factor.
m, f c =60 f GHz, M
,
= N
(4)
f
The effective data rate and the PREB depend on the
s f
,
at an effective rate More time spent during beam alignment 2.25
(duration
niform
at case linear array T✓f to better SNR◆ for data ✓ transmission 2 ◆ codebook size and the beam alignment strategy. For simplicity,
n
Tf r leads and =improved ⇤ PREB), but a
a
N ⇣ M T ⌘ |h| 2
P S(w 0⇤ ,deg
f , ✓, )
element s tx
o
d = /2 C. PREB in which fromthe RFisher
reduction
=optimal 1information
in T beams. 1 arelog 2 , 1+
those that maximize the SNR: , (4) we consider F and W to comprise Ntb = N and Nrb = M
2
i
d for d =230
(6) deg
h
(2) case PEB = trace [J ]
Tf⇠ 1:2,1:2
t
gth.
M }, In that orthogonal vectors, respectively. Specifically, let fi and wj be
1) PREB definition: Introducing|h|⇠2 P, S(w, with an
c
then [pT , ↵,f ,h] T
a
in which
⇤ ⇤ the optimal beams tx are those ✓,that ) maximize the SNR: 1.75
s
the column of a Discrete Fourier Transform (DFT) N -size
z
{1, expressed associated
}, in (2) FIM[w
meters, J⇠, ,fthe
and obtained
] =rotation arg max from
erroraggregating
bound 2 information . (5)
i r
...,M
l ee f , ✓,the) continuous1.5 andIncrease

ration , q
w2W
M -size matrices, respectively. In addition, we consider
, (3) Tfduring the exhaustive path for beam speed alignment
of light c; strategy,
f 2F
x(t) |h|2and Ptxthe S(w,PREB
y(t) are
a
⇤ ⇤1 f = 75 kHz
[w [J , f ] ]= arg max (7) . (5) an exhaustive search strategy, such that K = N M . Other
Rate, [Gbit/s]
REB = , overhead
c m
evoted to comprisedClearly, twoif components:
• Tf is fixed,transmitted
Position
time-domain thethen position
information a trade-off error
and bound
between
received signals rate ofand bandwidth
s
⇠ 3,3 w2W 2
fixed duration , R Ts 1.25 search strategies (e.g., hierarchical search) as well as other
o
PEB, [m]
Tftraining f 2F
o
f2),expressed
while the B overhead
and r exists.
duration ⇣T More
, with specifically,
1/T ⌘ by
|x(t)| increasing
2
dt = 1; h 2 C
= in radians (or degrees, after conversion).
s sDue 0 to the codebooks can be analyzed in a similar manner. In addition,
L W y ad
N+ is devoted
mission.
-2
10the to Clearly, if T is fixed, 1 then a trade-off between rate and
width. number is
PEBof the antennas,
= dominant f
trace thuschannel
[J the ] codebook
coefficient; , size,P= 15 the
is
kHz pre-log
the
(6) transmission
t wadditive
and f ),nature whileof Fisher information, f
⇠ 1:2,1:2 tx 1 we will assume that the MS and BS f = 15are
kHz able to determine
the training overhead exists. More specifically, by increasing
5G nk
factor is power;
reduced, thus reducing C N
and
the time available C M
forare the
data receive
n
when X a ( ) 2 a (✓) 2
ta transmission. theJandnumber
N
of antennas, thus the
M
codebook size, the pre-log the optimal beams that maximize the SNR. Performing the
a
expressed in meters,
transmission. ⇠ = On and thethe
transmit Jother rotation
⇠array
(f , w), response
hand, error
with bound
vectorsmore for (8) angle-of-departure
the
antennas, SNR 0.75
ata rate R gains in factor
ceive (5) (AoD)
transmission.
Note REB
isw2W
increase,
e
f 2F
that =
G r
reduced,
and thus
On and the[J
thus reducing
qincreasing
angle-of-arrival
✓ ⇠are
1
other
]3,3
the
, hand,
related
(AoA) thefactor.
log ✓time
with more
through
of the available
↵ = (7)
dominant
⇡antennas,✓ + .SNR
data analysis when this assumption is removed, is a topic of further
forpath.
For0.5
study.
mpute
fective
nd
where
lected
with
data
for
J⇠ (frate
expressed
C., w)
(f , w). Hence, we only
f , then
R is gains
PREB
in
1) PREB
the FIM
from
will
C.ofPREB H co
inFisher
simplicity
radians need -
associated
(5)
f = 75of
(or
assume that
definition: from
to
information
increase,
determine
with
kHzthe exposition,
degrees, after
thusa single
x(t) has flat
Introducing
2 Fisher information
an
increasing
expression
⇠
beamthe
but without
conversion).
spectrum,
, [p T
,
Due
↵,
pair log of
loss
for
i.e.,
h]
to
T
factor.
the
with
X(!)
generality, we B. Effective data rate
is
an constant,
0.25
Under the assumed
Increase
codebooks and search
= 0 deg
strategy,
= 30 deg the
Se
FIM,
beams ,additive
J⇠ (fselected
w). for nature with Fisher
|X(!)| information, overhead
◆ associated
Giuseppe DestinoFIM and J⇠ , Henk obtained
= T
X Wymeersch, s from aggregating
/(2⇡B). “On the information Trade- 0 effective data rate is given by
finite
t )are w and10fduring , then the 1)exhaustive
-3
PREB loss
Without definition:
of generality,Introducing we assume ⇠ ,a uniform [pT , ↵, h] T
linear witharrayan ✓ ◆ ✓ ◆
, (3) off Between
0 20 J⇠ 30
10 Positioning = and beam
40 JData⇠ (f alignment
50, w),
Rate 60 forstrategy,mm-Wave
70 80 the90 (8)PREB 100 10-2
|h| 2 ⇤ ⇤
p, ↵]. ◆ associated FIM J , obtained from aggregating information N M T P S(w , f , ✓, )
) comprised (ULA) withw2W isotropic element gain
)%] and d = /2 element s tx
(w, f , ✓, Communication”, two components:
ICCTraining 2017
⇠
the position
overhead,
ANLN [(Tt /Tferror
workshop. bound R= 1 log2PEB, 1+[m] , (4)
vided , (3) during
separation,the exhaustive
where
f 2F
r is beam
the alignment
carrier wavelength. strategy, In the
that PREB
case T f
2
)|2 , 2 = comprised two components: ⇣ the ⌘
position error bound
where
Figure J⇠Performance
4. (f , w) is the of FIM
the PEB associated
as a function with
(m1of a1)thesingle
beam beam
training pair
overhead Figure 6.in Trade-off
which thebetweenoptimalthebeams PEB andare the effective
those rate when the
that maximize varying the
SNR:
andwidth. © Henk Wymeersch, PEB [a M =
Gonzalo
(✓)] m trace
= j 2⇡d[J
Seco-Granados,
e r ⇠ ] sin(✓)
1:2,1:2 ,
, m 2
2017-2019 {1, . . . , (6)
M }, training (2) overhead. Arrows indicate increase in N = M . 184
f also
H
a ( (f using
)| 2 Hence,
, ,w).sequential
2
= we only
search strategy. need to determine an ⇣ expression⌘for
|h|2 Ptx S(w, f , ✓, )
zed Nwhen PEB = trace [J 1
] , (6) ⇤ ⇤
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data bandwidth.
signal J⇠ (f expressed
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in a similar
meters, and definition
the rotation for error
aN ( bound ).
⇠ 1:2,1:2 [w , f ] = arg max 2
.
Outline

h t l o
r on z a
p y
c nd G
n , a
i o
t h
i z
• Conclusions & outlooka r s c
• References
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
Conclusions
• Radio signals can provide location information
• 5G has important advantages here
g h t 5G
a l o
• Harness resolvability in time, angle for
i
r on z
– Single anchor localization
p y
– Tracking
o
c nd G
– SLAM
n , a
t i o
– Location-aided communication
h
– Radar
i z a r s c
a l ee
•
o c m
Processing at BS or UE
o s
L W y ad
5G nk r a n
e
H co - G
Se
5G positioning vs automotive FMCW radar

5G positioning FMCW radar
• Carrier above 28 GHz • Carrier above 28 GHz
• Large bandwidth (100+ MHz)
h t l
• Very large bandwidth (0.5-4 GHz) o
• Large antenna arrays (100+) i
r ong
• Multi-antenna arrays (2-4)
z a
• Full-band ADC (100+MHz)
p y
• Low-rate ADC (10-40 MHz)
o G
•, c d
• Coordinated transmission • Uncoordinated transmission
• Mainly communication
o n a n
Mainly mapping
•
t i
Possible for positioning & mapping!
a h
• Possible
c
for communication?
i
l eez r s
c ma s
o
L W y ad o
5G nk r a n
H coe - G
Se
https://www.nxp.com/docs/en/fact-sheet/AUTORADARFS.pdf
© Henk Wymeersch, 2019 187
Challenges
• Good geometric mmWave channel models for
distributed sources
g h t
positioning, including blockage, clustering and
5G
a l o
i
r on z
y
• Database of location-based channel
measurements
o p G
•
, c nd
Design of precoding and combining for
positioning, mapping
i o n a
•
a t c h
Pilot design for positioning, mapping
•
i z
l ee r s
Fast algorithms for positioning, tracking, mapping
• a
c m s
Online synchronization for positioning
• o
L W y ad o
Multi-user positioning, resource allocation for MU
5G nk n
positioning
r a
•
e
H co - G
Calibration of references (location, time)
Se
Outline

h t l o
r on z a
p y
c nd G
n , a
i o
t h
• Conclusions
i z a r s c
• References
a l ee
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
References
Basics of radio-based positioning
• Gustafsson and F. Gunnarsson, "Mobile positioning using wireless networks: possibilities and fundamental
pp. 41-53, July 2005.

h t l o
limitations based on available wireless network measurements," in IEEE Signal Processing Magazine, vol. 22, no. 4,
•
i g
r on z a
H. Liu, H. Darabi, P. Banerjee and J. Liu, "Survey of Wireless Indoor Positioning Techniques and Systems," in IEEE
y
Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), vol. 37, no. 6, pp. 1067-1080,
p
Nov. 2007.
•
o G
J. A. del Peral-Rosado, J. A. López-Salcedo, F. Zanier and M. Crisci, "Achievable localization accuracy of the
c nd
positioning reference signal of 3GPP LTE," 2012 International Conference on Localization and GNSS, Starnberg,
2012, pp. 1-6.
n , a
o
• Sahinoglu, Zafer, Sinan Gezici, and Ismail Guvenc. "Ultra-wideband positioning systems." Cambridge, New York
(2008).
a t i c h
s
• R. M. Buehrer, H. Wymeersch and R. M. Vaghefi, "Collaborative Sensor Network Localization: Algorithms and
i z r
Practical Issues," in Proceedings of the IEEE, vol. 106, no. 6, pp. 1089-1114, June 2018.
l ee
a
c m s
o
L W y ad
5G properties for positioning
• o
Klaus Witrisal and Carles Antón-Haro (eds) “Whitepaper on New Localization Methods for 5G Wireless Systems and
5G nk n
the Internet-of-Things”, COST CA15104 (IRACON); white paper ; April 2018.
•
r a
Henk Wymeersch, Gonzalo Seco-Granados, Giuseppe Destino, Davide Dardari, and Fredrik Tufvesson, “5G mm-
G
Wave Positioning for Vehicular Networks”, IEEE Wireless Communication Magazine, To appear
•
•
e
H co -
Ping Zhang, Jian Lu, Yan Wang, Qiao Wang, Cooperative localization in 5G networks: A survey, ICT Express,
Volume 3, Issue 1, March 2017, Pages 27-32, ISSN 2405-9595.
Dammann, Armin, Ronald Raulefs, and Siwei Zhang. "On prospects of positioning in 5G." Communication Workshop
Se
(ICCW), 2015 IEEE International Conference on. IEEE, 2015.
• Shahmansoori, Arash, Gonzalo Seco-Granados, and Henk Wymeersch. "Survey on 5G Positioning." Multi-
Technology Positioning. Springer International Publishing, 2017. 165-196.
• Han, Y., Shen, Y., Zhang, X. P., Win, M. Z., & Meng, H. (2016). Performance limits and geometric properties of array
localization. IEEE Transactions on Information Theory, 62(2), 1054-1075.
References
Single anchor positioning
• Li, Ji, Jean Conan, and Samuel Pierre. "Mobile terminal location for MIMO communication systems." IEEE
t o
Transactions on Antennas and Propagation 55.8 (2007): 2417-2420.
h l
Cm-wave positioning
i g
r on z a
•
p y
Savic, Vladimir, and Erik G. Larsson. "Fingerprinting-based positioning in distributed massive MIMO
• o
c nd G
systems." Vehicular Technology Conference (VTC Fall), 2015 IEEE 82nd. IEEE, 2015.
M. Koivisto et al., "Joint Device Positioning and Clock Synchronization in 5G Ultra-Dense Networks," in
n ,
IEEE Transactions on Wireless Communications, vol. 16, no. 5, pp. 2866-2881, May 2017.
a
•
i o
N. Garcia, H. Wymeersch, E. G. Larsson, A. M. Haimovich and M. Coulon, "Direct Localization for Massive
t h
c
MIMO," in IEEE Transactions on Signal Processing, vol. 65, no. 10, pp. 2475-2487, May15, 15 2017.
i z a r s
l ee
Mm-wave positioning in delay domain
a
•
c m s
K. Witrisal, S. Hinteregger, J. Kulmer, E. Leitinger and P. Meissner, "High-accuracy positioning for indoor
o o
applications: RFID, UWB, 5G, and beyond," 2016 IEEE International Conference on RFID (RFID), Orlando,
L W y ad
FL, 2016, pp. 1-7.
5G nk n
• Leitinger, Erik, et al. "Evaluation of position-related information in multipath components for indoor
a
positioning." IEEE Journal on Selected Areas in communications 33.11 (2015): 2313-2328.
r
G
• Witrisal, Klaus, et al. "High-Accuracy Localization for Assisted Living: 5G systems will turn multipath
•
e
H co -
channels from foe to friend." IEEE Signal Processing Magazine 33.2 (2016): 59-70.
Gentner, Christian, et al. "Multipath Assisted Positioning with Simultaneous Localization and Mapping."
Se
IEEE Transactions on Wireless Communications 15.9 (2016): 6104-6117.

References
Mm-wave positioning in delay and angle domain

•
h t l o
Z. Abu-Shaban, H. Wymeersch, T. Abhayapala, G. Seco-Granados, “Single-Anchor Two-Way Localization
• g
r on z a
Bounds for 5G mmWave Systems: Two Protocols”, arXiv:1805.02319.
i
Z. Abu-Shaban, Xiangyun Zhou, T. Abhayapala, G. Seco-Granados, H. Wymeersch, "Error Bounds for
y
Uplink and Downlink 3D Localization in 5G mmWave Systems", IEEE Transactions on Wireless
p
o G
Communications, May 2018.
•
c nd
A. Shahmansoori, G. E. García, G. Destino, G. Seco-Granados, H. Wymeersch, "Position and Orientation
,
Estimation through Millimeter Wave MIMO in 5G Systems", IEEE Transactions on Wireless
o n a
Communications, vol. 17, no. 3, pp. 1822-1835, Mar 2018.
i
•
t h
A. Guerra,F. Guidi, D. Dardari. "Single anchor localization and orientation performance limits using
a c
s
massive arrays: MIMO vs. beamforming." IEEE Transactions on Wireless Communications, May 2018.
•
i z
l ee r
H. Wymeersch, N. Garcia, Hyowon Kim, G. Seco-Granados, Sunwoo Kim, Fuxi Wen, Markus Frohle, “5G
a
mmWave Downlink Vehicular Positioning”, submitted to IEEE Globecom, 2018.
c m s
o o
• Z. Lin, T. Lv and P. T. Mathiopoulos, "3-D Indoor Positioning for Millimeter-Wave Massive MIMO Systems,"
L W y ad
IEEE Transactions on Communications, 2018.
5G nk
• D. Wang, M. Fattouche and X. Zhan, "Pursuance of mm-Level Accuracy: Ranging and Positioning in
•
r a n
mmWave Systems," IEEE Systems Journal, 2018.
M. Ruble, I. Güvenç, “Wireless Localization for mmWave Networks in Urban Environments”,
• e
arXiv:1805.11208.
H co - G
Y. Wang, Y. Wu and Y. Shen, "Multipath Effect Mitigation by Joint Spatiotemporal Separation in Large-
Scale Array Localization," IEEE GLOBECOM 2017.
Se
References
Cooperative positioning
h t l o
•
i g a
N. Patwari, J. N. Ash, S. Kyperountas, A. O. Hero, R. L. Moses and N. S. Correal, "Locating the nodes:
r on z
cooperative localization in wireless sensor networks," in IEEE Signal Processing Magazine, vol. 22, no. 4,
pp. 54-69, July 2005.
p y
•
o G
Eren, Tolga. "Cooperative localization in wireless ad hoc and sensor networks using hybrid distance and
c nd
bearing (angle of arrival) measurements." EURASIP Journal on Wireless Communications and Networking
2011.1 (2011): 72.
n , a
o
• W. Yuan, N. Wu, B. Etzlinger, H. Wang and J. Kuang, "Cooperative Joint Localization and Clock
t i h
Synchronization Based on Gaussian Message Passing in Asynchronous Wireless Networks," in IEEE
a c
s
Transactions on Vehicular Technology, vol. 65, no. 9, pp. 7258-7273, Sept. 2016.
•
i z
l ee r
Naseri, Hassan, and Visa Koivunen. "Cooperative network localization using hybrid range and angle
a
measurements." arXiv preprint arXiv:1704.01918 (2017).
c m s
o o
• Wymeersch, Henk, Ulric Ferner, and Moe Z. Win. "Cooperative Bayesian self-tracking for wireless
L W y ad
networks." IEEE Communications Letters 12.7 (2008).
5G nk r a n
e
H co - G
Se
References
Location-aided communication
•
h t l o
R. Di Taranto, S. Muppirisetty, R. Raulefs, D. Slock, T. Svensson and H. Wymeersch, "Location-Aware
i g
r on z a
Communications for 5G Networks: How location information can improve scalability, latency, and
robustness of 5G," in IEEE Signal Processing Magazine, vol. 31, no. 6, pp. 102-112, Nov. 2014.
•
y
G. C. Alexandropoulos, “Position aided beam alignment for millimeter wave backhaul systems with large
p
o G
phased arrays,” 2017. [Online]. Available: http://arxiv.org/abs/1701.03291
•
vol. 4, pp. 8703–8714, 2016.
, c nd
J. C. Avilés and A. Kouki, “Position-aided mm-wave beam training under NLOS conditions,” IEEE Access,
•
o n a
Garcia, Gabriel E., et al. "Transmitter Beam Selection in Millimeter-wave MIMO with In-Band Position-
i
t h
Aiding." arXiv preprint arXiv:1705.05668 (2017).
a c
z s
• N. Garcia, H. Wymeersch, E. G. Strom, and D. Slock, “Location- aided mm-wave channel estimation for
i
l ee r
vehicular communication,” in IEEE International workshop on Signal Processing Advances in Wireless
a
Communication, 2016.
o c m o s
L W y ad
5G nk r a n
e
H co - G
Se
)
UE
h t
downlink "+,%
l o
BS
! ' *g
i
r on z a
y ( +,
o p G
"
, c nd & #$%
i o n a
a t c h
i z
l ee r s
a
c m s
o
L W y ad o
5G nk r a n
e
H co - G
Se
Exercise 1 – Estimation of DOD

downlink
BS UE
$
h t l o
!"# antennas
% i g
r 4 on z a
y
"#
o p G
& beams "#
, c nd
i o n a
t ofh
•
a
The received signal consists of the superposition
i z r s c & signals sent through the
"#
corresponding beams.
a l e e
•
different subcarriers o
You can assume that the c
or at differentm
signals
time slots, oro
are orthogonal,
s
because they are sent either on
L W y ad they are orthogonal by design.
The receivedG n
•
5 signalncankbe expressed r a as:
$ ' e
H = ℎ* % -./ + G ' +1 '
= ℎ * %co
,-
Se
+ 2 4 ' + ⋯+ * % 2 + 4 ' +1 '
,- 3 3 ,- 678 678

Exercise 1 – Estimation of DOD
Questions:
h t l o
• Propose a method to estimate !"# .
i
r on g z a
• "#
y
How many beams $ are needed for the problem to be identifiable?
p (arrayG
•
antenna at the UE). Compare the position of,thec
o
Write the signal model in the uplink for the same scenario
d at the BS and one
o n a n
steering vector % !
"# in the uplink and
downlink signal models.
a t i c h
•
i z
Discuss how the number of antennas
l
&
case do you r
s
will
"#affect the estimation of the ! in the uplink
"#
c a
and in the downlink. In which
e e expect a more marked improvement with & ?
s
"#
o
L W y ad m o
5G nk r a n
e
H co - G
Se
Exercise 1 – Estimation of DOD - solution
Propose a method to estimate !"# .
h t l o
The signal $ % is passed through matched filters for each r g pilot signals.
ofithe z aAssuming,
•
without loss of generality, that the pilot signals have unity
p energy, theo n
G
result is:
o
c nd
) ! -*
⋮ n +n
+, , .
a
&=ℎ
) !ti -
o h
i z a
*
+,
r s c
012
a l error method
e e
•
c
We can use the least-square
s <
L) o! W
*
y m do & *
) ! -
⋮
+, .
min &5− ℎ G *
+,- .
<
n a ) ! - *
n k⋮
r a max +, 012
<
G
89:
6, 89:
e
H co -
*
) ! - +, 012
*
) ! -
⋮
+, .
Se
) ! -*
+, 012

• The cost function can be written as:
+ &'( 1 0.∗ 9 h t, l o
max
+ &'( 1 0 9
where
r ong
0 = ,;
i ⋯
z a
=>?
y
678
o p G
•
,
We need ! ≥ 2 for the problem to be identifiable,c otherwise
n d
constant and does not depend on & . n
the cost function is
a
"#
o
ti the
'(
h in amplitude due to ℎ from
• At least to beams are needed to a
i z + & ,r.s
distinguish cchanges
a l ee
those due to the gain of the beams '( -
The cost function can c s

•
1 o m oto be greater than or equal to 2.
be seen as the projection of
Ldimension y subspace d
∗
vector . on the subspace spanned
by 0 + 2 . The
'(
G W
the
n a has
5 nk r a
e
H co - G
Se
Write the signal model in the uplink for the same scenario (array at the BS and one antenna
h t
at the UE). Compare the position of the steering vector ! "#$ in the uplink and downlink
l o
a
signal models.
r i g z
and in the downlink. In which case do you expect a more y
Discuss how the number of antennas % will affect the estimation
#$
p
of the
o n
"
#$ in the uplink
o
c nd G
marked improvement with % ?
#$
&=ℎ! " ,
i o n +n )*
a
a t c h
z is the s
li eer not through its product times ,.
• The dimension of the observation number of antennas % .
#$
• The steering vector ! " a is directly observed,

o c )*
m o s
L ofW
• Increasing the number y % acauses:
antennas d
#$
5G innthekcaptured renergy
o An increase
an (array gain); effect ~% #$
H e
o Higher aperture
- G
to estimate " ; effect ~% .
o
)* #$
c
Se
o No penalty in power splitting between beams.

Exercise 2 – Position determination with clock offset

&
UE
($%*
h t l o
BS
r i!g
z a
' , -
( p y
$%
o n
( o
c nd +
$%#
G
,
)"*
i o n a
(
a t ,
c h
s
)"#
z
.
a i
l ee ! r
o c m o s "#
L withyLOS and one

We consider a 2D scenarioW a dNLOS produced by a point scatterer in
5G ! n. k n
•
unknown position "#
r a
The objective is toedetermine-
H G
•
c odifferent set of channel parameters.
possibly the scatterer from
the position and orientation of the UE, ! and &, and
$%
Se
Exercise 2 – Position determination with clock offset

1. Assume only LOS
• Assume that BS and UE have synchronized clocks.
h t l o
o Determine the locus of points given by !" , $%&' .
. r
i g z a
o Determine the locus of points given by ! , $
y o n
,p
" )*'
o from ! , $G, $
o Write the equations that determine + and )*
c BSdand UE.
• Assume that there is unknown clock offset, - between n
" %&' .
)*'
o n
o Determine the locus of pointsigiven by ! , $ , $
a
the UE location? And thea
t c" h %&' . Is it possible to estimate
)*'
l i z r s
UE orientation?
2. Assume that the LOS and a

c e e s
one NLOS are received, and also an unknown clock offset -
between BS and UE.o m
L W that y
o
dto obtain + , and + from
a
5! G . n
o Show graphically it is possible )* , &.
,$ ,$ k
"
n
%&' ,! ,$ ,$
)*' / %&.
r a
)*.
H e
o Therefore, the offset G
- show graphically that a wrong choice of - produces a
- can also be determined using only downlink
transmission. o
change in thecdelays and angles that is inconsistent with the measurements
Hence,
! ,$ S
"
e
,$ ,! ,$ ,$
%&' )*' / %&. .
)*.

Exercise 2 – Position determination with clock offset - solution

1. Assume only LOS
h t l o
o
i g
Determine the locus of points given by !" , $%&' .
r on z a
p y
c o d G
n , circle.
a. The
a n
value of ! only LOS determines a
"
UE
t i o b. h
BS
i z a r s c The value of $ determines a line.
%&'
) !
a l "
e
+
e
c. The intersection between the circle
,-
o c m od.sThe UE orientation cannot be

and the line is the location of the UE.
L Wy a* d determined.
$ %&'
5 G nk r a n e. The geometrical problem is the same

e
H co - G in the downlink or the uplink.
Se

1. Assume only LOS
h t l o
o
i g
Determine the locus of points given by !" , $%&' .
r on z a
,
p y
UE
+%& o
c nd G
$%&'
n , a
a. The value of !" only LOS determines a
o
circle.
, ti h
i z a s c
b. The value of $ does not add any
%&'
l UE r
information in this case. Different
c a e e s
locations on the circle result in the
Lo Wym + ado orientation ,, which is unknown.

$ same $ for different values of the
%&'
! " %&'
BS
5G ! nk n
) %&
"
r a
e
H co - G *
Se

1. Assume only LOS
h t l o
o
i g a
Write the equations that determine !"# and $ from %& , ()*+ , ("#+ .
r on z
p y
o
c nd G
determine the ,
a. The values of % and (
& )*+
i o n position:
a
t
a rs c h
! iz
cos (
l esine (
)*+
= .%
c ma "# &
)*+
s
L o y o
dthe UE-angle, one can determine the
Given the position or W a
5G nk n
b. the BS-angle, and
orientation:
r a
e ( G+ $ = (
H co - "#+ )*++5
Se

1. Assume only LOS
•
h t
Assume that there is unknown clock offset ! between BS and UE.
l o
o
i g a
Determine the locus of points given by "# , %&'( , %)*( . Is it possible to estimate
r on z
y
the UE location? And the UE orientation?
p
o
c nd UE G .
n , a
t
.
i o h %
c
)*(
i z a r s
UE -
a l %
e e
)*
BS
o c m o s
)*(
+
L " W y ad - )*
5G nk% ran
#
There is no information about
G
&'(
e
distance. All points in the line
H co - , lead to the same values of %

and % .
&'(
Se
)*(


2. Assume that the LOS and one NLOS are received, and also an unknown clock offset !
between BS and UE.
h t l o
o
i
r on
() , +,&- , +#$- , (. , +,&' , +#$' . g z a
Show graphically that it is possible to obtain "#$ , % and "&' from
p y
o
c nThe d G
n , a
t i o h
values of + and ,&-
i z a r s c + determines the lines where

,&'
l
the UE and the scatterer are.
c a e e s The UE orientation can be

BS o
L+ Wy ad m o
5G nk+ n
/ obtained as:
a
,&'
e G r %=+ + 3- + ,&- #$-
H co - ,&-
0
Se

between BS and UE.
h t l o
o
i
r on
() , +,&- , +#$- , (. , +,&' , +#$' . g z a
p y
o G
c nFordeach point of the line where
n , a
+io- +
a t c h the UE lies, we can use the
#$- #$'
l i z r s difference + - + to draw
#$- #$'
c a e e s
segments with that orientation
between the two lines.
BS o
L+ Wy ad m o
/
G
5 nk+ ,&'
a n For each possible location of the
e G r UE, the scatterer location can be
H co -
,&- determined. Therefore, the only
0 independent unknow is now the
Se
UE location.


between BS and UE.
h t l o
o
i
r on
() , +,&- , +#$- , (. , +,&' , +#$' . g z a
p y
o
c nAmong d G
n , a the possible UE and
t+i o +
h scatterer locations, we chose
c
-
a
" #$- #$'
l i z
&
r s the ones for with the path lenght
a
c m e e difference is ( - ( .
s Thus, using 6 measurements,

. )
BS o
L+ Wy a" d o
/
G
5 nk+ ,&'
a n we have determined 6
#$
e G r unknowns: " , %, " , ! #$ &
H co - ,&-
0
Se
Exercise 3 – Position tracking
!23$ -
h t l o
! "$
r i gUE
z a
+
'
'
./$
y
p !G o n
o
1 ./)
+ c d
& ' ("$
n , ,
a n
./
t i o '
h ./#
c
BS '
a
downlink
s
(")
i z
l e+e r *
a
c m '
s
o
L W y ad
("# 0
o
5 G k n
aand two NLOS produced by a scatterer point in
!
n G r "#
unknown positione
• We consider a 2D scenario with LOS
! and a -
H co "# reflecting wall.
The reflection point e

•
S on the wall is denoted as ! . "$


• Note that a virtual anchor (VA) can be associated to each specular reflection. The
position is located at the symmetric point to the BS with respect to the wall.
Write the expression that gives !"# as a function of !$%# and !&' .
h t l o
•
r i g z a
• Assume that:
p y o n
o
o The UE is moving along a straight line with constant
c nd G
velocity.
o The orientation is constant.
n ,
process. a
t i o
o The clock offset ( is an autoregressive
h
•
a
Write the equations of the dynamic model
i z s c
that connect
r
the parameters ! ) and ( and
&' ,
a l ee
instant k with the same parameters at instant k-1.
o c m s
anchor ! o are static by definition.
•
L "*
W y
The scatterer point ! and the virtual
a d$+#
• G
5 advantage
Write the equations
k of modeling
of the dynamic modeln
a the wall reflection using the VA ! instead
for ! and ! .
"* $%#
Explain which is the n r

e ! . -G
• $+#
H co
of the reflection point "#
Se
•
h t l o
a
Write the observation model that links the 9 channel parameters:
! , $ , $ , ! , $ , $ , ! , $ , $ ig z
" %&' ()' * %&+ ()+
y r
, %&-
o n
()-
with the location parameters

o p G
. , /, 0, . , . c d
()
n , &+ 12-
a n
t i o h
•
z a
Sketch the formulation of an EKF to track
i s c
the location
r
parameters using the 9
a l
parameters provided by a channel
e
estimation
e
method.
o c m o s
L W y ad
5G nk r a n
H coe - G
Se
Exercise 3 – Position tracking - solution
!"# = %!&' + 1 − % !+,#

h t l o
i
r on
where % is obtained by impossing that the distance(UE-VA) is equal g z a
to the distance(UE-
reflection point) + distance(reflection point-BS).
p y
−c o d0 G
%=
1
2 !
!
−o!n !
,
+,#!
3 n
./
−a!
a t i
+,# 12
c h +,# ./
i z
l that the r s
c a e e
point-BS). os
where % is obtained by impossing distance(UE-VA) is equal to the distance(UE-
o
L W y ad m
reflection point) + distance(reflection
5G nk r a n
H coe - G
Se
Exercise 3 – Position tracking - solution

Dynamical model
!"# $ + 1 = !"# $ + ( $ ) + *"#

h t l o
( $+1 =( $ +* i g
r on z a
+
p y
, $+1 =, $ +- o
c nd
. G
n , a
/ $ + 1 = 0/ $ + -
t i o h1
! $ + 1 = !za
i r s c
23
a l ee$ 23
! o $c+ 1 = ! m$ s
L W y ad
456 456o
5 G nk r a n
e
H co - G
Se

Opy Right Ha ND G On Za Lo: 5G Localization: Unlocking New Dimensions in Radio-Based Positioning

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Opy Right Ha ND G On Za Lo: 5G Localization: Unlocking New Dimensions in Radio-Based Positioning

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Chalmers University of Technology

5G Localization: Unlocking new Dimensions in Radio-based

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 1

The 5G Positioning Challenge

Base Station (BS)

• Part I: Principles of radio-based positioning

e c the Internet-of-Things”, COST CA15104 (IRACON); white paper;

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 4

• Part I: Principles of radio-based positioning

Main idea of radio-based positioning

Example of time-based measurements

– Not one-to-one mapping

Time: time of arrival (TOA)

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 10

Time: two-way TOA

Time: time difference of arrival (TDOA)

Sedepends on choice of reference base station

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 12

Angle of arrival (AOA) and angle of departure (AOD)

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 13

Tool: Fisher Information and CRB

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019

How would you derive an estimator?, c

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 3 20

Example: AOD estimation

• Using maximum likelihood r = ↵SH a(✓) + n

Example: estimating AOD and AOA

Log likelihood function

e G r AOD log likelihood function

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 23

Position error bound

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 25

• Observation model r = f (x) + n with Gaussian noise

S s.t. (kx x k r ) = "

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 27

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 28

• Well-behaved cost function

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 29

• But relies on good anchor placement (see CRB)

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 30

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 32

s.t. kx xk k = zk Chalmers University of Technology

5G nuy =k=xv x ran

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 33

Positioning with belief propagation

Model Dynamical model

extended Kalman filter, particle filter, etc

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 36

time k 1 Nxt 1 x̂t 1|t 1 , Ptp(x 1|tt |y 1 1:t )

EKF with score function 3

p(x1,t , x2,t , x3,t |x1,t 1 , x2,t 1 , x3,t 1 )

• Part I: Principles of radio-based positioning

J. A. del Peral-Rosado, et. al. ”Survey of Cellular Mobile Radio Localization

What do we mean by 5G?

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 44

5 Selling points for 5G positioning

1. High carrier frequencies

• Received power due to path loss, shadowing, multipath fading

H co - Each “effective path” corresponds to cluster

© Henk Wymeersch, Gonzalo Seco-Granados, 2017-2019 46

1. From Fisher information: large bandwidth leads to better delay

II. S CENARIO, M EASUREMENTS ,

not been present in the measurements. It is introduced