Robust Snapshot Radio SLAM

The intrinsic geometric connections between millimeter-wave (mmWave) signals and the propagation environment can be leveraged for (SLAM) in 5 G and beyond networks. However, estimated channel parameters that are mismatched to the utilized geometric model can cause the SLAM solution to degrade. In this paper, we propose a robust snapshot radio SLAM algorithm for mixed line of-sight (LOS) and non-line-of-sight (NLoS) environments that can estimate the unknown user equipment (UE) state, map of the environment as well as the presence of the LOS path. The proposed method can accurately detect outliers and the LOS path, enabling robust estimation in both LOS and NLOS conditions. The proposed method is validated using 60 GHz experimental data, indicating superior performance compared to the state-of-the-art.