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1. Intrinsic Cram\'er-Rao Bound based 6D Localization and Tracking for 5G/6G Systems

Author

Xu, Xueting, Chen, Hui, Shen, Shengqiang, Kim, Hyowon, Fang, Xu, Peng, Ao, Jiang, Fan, and Wymeersch, Henk

Subjects
Electrical Engineering and Systems Science - Signal Processing
Abstract

Localization and tracking are critical components of integrated sensing and communication (ISAC) systems, enhancing resource management, beamforming accuracy, and overall system reliability through precise sensing. Due to the high path loss of the high-frequency systems, antenna arrays are required at the transmitter and receiver sides for beamforming gain. However, beam misalignment may occur, which requires accurate tracking of the six-dimensional (6D) state, namely, 3D position and 3D orientation. In this work, we first address the challenge that the rotation matrix, being part of the Lie group rather than Euclidean space, necessitates the derivation of the ICRB for an intrinsic performance benchmark. Then, leveraging the derived ICRB, we develop two filters-one utilizing pose fusion and the other employing error-state Kalman filter to estimate the UE's 6D state for different computational resource consumption and accuracy requirements. Simulation results validate the ICRB and assess the performance of the proposed filters, demonstrating their effectiveness and improved accuracy in 6D state tracking.

Published
2025

2. A Projective Geometric View for 6D Pose Estimation in mmWave MIMO Systems

Author

Shen, Shengqiang and Wymeersch, Henk

Subjects
Electrical Engineering and Systems Science - Signal Processing
Abstract

Millimeter-wave (mmWave) systems in the 30--300 GHz bands are among the fundamental enabling technologies of 5G and beyond 5G, providing large bandwidths, not only for high data rate communication, but also for precise positioning services, in support of high accuracy demanding applications such as vehicle positioning. With the possibility to introduce relatively large arrays on user devices with a small footprint, the ability to determine the user orientation becomes unlocked. The estimation of the full user pose (joint 3D position and 3D orientation) is referred to as 6D localization. Conventionally, the problem of 6D localization using antenna arrays has been considered difficult and was solved through a combination of heuristics and optimization. In this paper, we reveal a close connection between the AoA and AoD and the well-studied perspective projection model from computer vision. This connection allows us to solve the 6D localization problem, by adapting state-of-the-art methods from computer vision. More specifically, two problems, namely 6D pose estimation from AoA from multiple single-antenna base stations and 6D SLAM based on single-BS mmWave communication, are first modeled with the perspective projection model, and then solved. Numerical simulations show that the proposed estimators operate close to the theoretical performance bounds. Moreover, the proposed SLAM method is effective even in the absence of the LoS path, or knowledge of the LoS/NLoS condition.

Published
2023

24. Reconfigurable and Tunable Multi-output Optoelectronic Oscillator Based on Stimulated Brillouin Scattering Effect

Author

Wang, Yue, Zhang, Guanjie, Ma, Shuai, Min, Minghui, Shen, Shengqiang, Li, Shiyin, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Li, Yong, Series Editor, Liang, Qilian, Series Editor, Martín, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Oneto, Luca, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zamboni, Walter, Series Editor, Zhang, Junjie James, Series Editor, Dong, Jian, editor, and Zhang, Long, editor

Published
2023
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41. Dynamic characteristics of oblique droplet impact on a liquid film.

Author

Bao, Minle, Yi, Zhihao, Zhao, Denghui, Liu, Hui, Guo, Yali, Gong, Luyuan, and Shen, Shengqiang

Abstract

The impact of droplets on liquid films is a fundamental phenomenon in fluid dynamics, with significant implications across various scientific and engineering applications. While much research has focused on normal droplet impacts, where the droplet strikes the liquid surface perpendicularly, the dynamics of oblique droplet impacts remain less understood. This study aims to explore the complex interactions governing oblique droplet impacts on the liquid film. Based on superhydrophobic coating technology, this study proposes a novel experimental method for achieving oblique droplet impacts. Compared to existing methods, this approach offers good experimental repeatability. The experimental setup developed is centered around a droplet generation unit capable of stably producing oblique droplets, with the evolution of the ship's prow-like liquid crown captured using high-speed imaging technology. The effects of the Weber number, impact angle, and liquid film thickness on the evolution and characteristic parameters of the liquid crown were investigated. The model for predicting the variation of the dimensionless liquid crown radius was validated. Additionally, a splashing discrimination method based on the normal K number was introduced, and an empirical correlation for the splashing threshold was established using the soft-margin support vector machine. The findings of this study could pave the way for innovative solutions in industries where precise fluid control is paramount and lay the groundwork for future explorations into more intricate multiphase flow phenomena. [ABSTRACT FROM AUTHOR]

Published
2025
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