Abstract
Integrated sensing and communication (ISAC) promises to be one of the major technologies in the future mobile communications. However, the lack of co-designed hardware systems and algorithms that combine both functions poses a challenge for further study of ISAC. In this case, firstly, we apply the inertial measurement unit (IMU) to access auxiliary motion information of user equipment (UE). Second, we design a 64-antenna millimeter-wave communication prototype system and estimate localization of UE and environmental features after beam measurements. Finally, the belief propagation simultaneous localization and mapping (BP SLAM) algorithm is utilized to combine IMU estimation with beam measurements to improve localization accuracy of UE and environmental features. The experiment results show that BP SLAM fused with IMU measurements can locate UE within 1 m error and virtual anchor within 2 m error in average, which increases the UE localization and environment sensing accuracy by ten times approximately.
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