Active environmental map construction algorithm based on limited bandwidth millimeter-wave communication signals
ZHANG Zhendong
ZHANG Jiachi
LIU Liu
ZHOU Tao
LI Xinxing
CAI Yuchen
Abstract：The performance of existing environmental sensing technologies under limited millimeter-wave(mmWave)signal bandwidth has not been thoroughly investigated.Moreover,these technolo-gies often face challenges such as high computational complexity and insufficient real-time capability in complex scenarios.To address these issues,this paper proposes an active environmental map construc-tion algorithm based on limited-bandwidth mm Wave communication signals,aiming to enable real-time environment mapping and enhance the overall performance of communication systems.First,the proposed method begins by actively transmitting and receiving mm Wave communication signals at the mobile terminal to extract the propagation delay and Angle Of Arrival(AOA)information of echoes.Combined with the terminal's pose information,these signals are used to preliminarily estimate ob-stacle coordinates.Second,considering the impact of limited signal bandwidth on map resolution,an occupancy grid mapping algorithm is employed to characterize the spatial positions of obstacles.Bresenham's algorithm is then used to compute free grid cells,facilitating rapid and accurate environ-mental map construction.Subsequently,simulation experiments are conducted under varying map resolutions to analyze the mapping performance acorss different settings.Furthermore,the AOA distri-bution in the sensed environment is statistically analyzed and fitted to validate the applicability of the von Mises distribution.Finally,the constructed maps are compared against lidar-based benchmark maps.Accuracy is evaluated using Root Mean Square Error(RMSE),obstacle shape similarity is as-sessed via the Jaccard index,and the algorithm's efficiency and system performance are measured by code execution time.The results demonstrate that the proposed algorithm achieves optimal perfor-mance under a 3 GHz bandwidth and a resolution of 25 grids per meter,yielding an RMSE of 9.294 3,a Jaccard index of 0.625 4,and a code execution time of 14.774 6 minutes,satisfying real-time envi-ronment sensing requirements.Compared to results obtained with a 500 MHz bandwidth at the same resolution,the RMSE,Jaccard index,and execution time are improved by 56.1％,394.4％,and 70.6％,respectively.These findings provide valuable insights for the development of future high-dynamic communication systems.
Keywords：millimeter-wave communication signalslimited bandwidthenvironment sensingoccu-pancy grid mapBresenham algorithm
Publication Date：2025-06-30
Online Publishing Date：2025-08-21(First online date of this platform, not the publication date of the document)
Pages：14( 157-170 )