Position and Orientation Estimation through Millimeter Wave MIMO in 5G Systems

Millimeter wave signals and large antenna arrays are considered enabling technologies for future 5G networks. While their benefits for achieving high-data rate communications are well-known, their potential advantages for accurate positioning are largely undiscovered. We derive the Cram\'{e}r-Rao bound (CRB) on position and rotation angle estimation uncertainty from millimeter wave signals from a single transmitter, in the presence of scatterers. We also present a novel two-stage algorithm for position and rotation angle estimation that attains the CRB for average to high signal-to-noise ratio. The algorithm is based on multiple measurement vectors matching pursuit for coarse estimation, followed by a refinement stage based on the space-alternating generalized expectation maximization algorithm. We find that accurate position and rotation angle estimation is possible using signals from a single transmitter, in either line-of- sight, non-line-of-sight, or obstructed-line-of-sight conditions.Comment: The manuscript has been revised, and increased from 27 to 31 pages. Also, Fig.2, Fig. 10 and Table I are adde

Statistical Approaches for Initial Access in mmWave 5G Systems

mmWave communication systems overcome high attenuation by using multiple antennas at both the transmitter and the receiver to perform beamforming. Upon entrance of a user equipment (UE) into a cell a scanning procedure must be performed by the base station in order to find the UE, in what is known as initial access (IA) procedure. In this paper we start from the observation that UEs are more likely to enter from some directions than from others, as they typically move along streets, while other movements are impossible due to the presence of obstacles. Moreover, users are entering with a given time statistics, for example described by inter-arrival times. In this context we propose scanning strategies for IA that take into account the entrance statistics. In particular, we propose two approaches: a memory-less random illumination (MLRI) algorithm and a statistic and memory-based illumination (SMBI) algorithm. The MLRI algorithm scans a random sector in each slot, based on the statistics of sector entrance, without memory. The SMBI algorithm instead scans sectors in a deterministic sequence selected according to the statistics of sector entrance and time of entrance, and taking into account the fact that the user has not yet been discovered (thus including memory). We assess the performance of the proposed methods in terms of average discovery time

Operator vision aids for space teleoperation assembly and servicing

This paper investigates concepts for visual operator aids required for effective telerobotic control. Operator visual aids, as defined here, mean any operational enhancement that improves man-machine control through the visual system. These concepts were derived as part of a study of vision issues for space teleoperation. Extensive literature on teleoperation, robotics, and human factors was surveyed to definitively specify appropriate requirements. This paper presents these visual aids in three general categories of camera/lighting functions, display enhancements, and operator cues. In the area of camera/lighting functions concepts are discussed for: (1) automatic end effector or task tracking; (2) novel camera designs; (3) computer-generated virtual camera views; (4) computer assisted camera/lighting placement; and (5) voice control. In the technology area of display aids, concepts are presented for: (1) zone displays, such as imminent collision or indexing limits; (2) predictive displays for temporal and spatial location; (3) stimulus-response reconciliation displays; (4) graphical display of depth cues such as 2-D symbolic depth, virtual views, and perspective depth; and (5) view enhancements through image processing and symbolic representations. Finally, operator visual cues (e.g., targets) that help identify size, distance, shape, orientation and location are discussed

Measurement of the atmospheric muon flux with the NEMO Phase-1 detector

The NEMO Collaboration installed and operated an underwater detector including prototypes of the critical elements of a possible underwater km3 neutrino telescope: a four-floor tower (called Mini-Tower) and a Junction Box. The detector was developed to test some of the main systems of the km3 detector, including the data transmission, the power distribution, the timing calibration and the acoustic positioning systems as well as to verify the capabilities of a single tridimensional detection structure to reconstruct muon tracks. We present results of the analysis of the data collected with the NEMO Mini-Tower. The position of photomultiplier tubes (PMTs) is determined through the acoustic position system. Signals detected with PMTs are used to reconstruct the tracks of atmospheric muons. The angular distribution of atmospheric muons was measured and results compared with Monte Carlo simulations.Comment: Astrop. Phys., accepte