Single-Snapshot SLAM in Wireless Communication with Single-Antenna Transceivers

We study a single-snapshot simultaneous localization and mapping (SLAM) problem in a wireless communication system with one transmitter and multiple receivers, all the transceivers equipped with single antenna. The major challenge lies in the ambiguity of delay observation combination for the transmitter or a scattering point in the receivers’ multipath delay observations, due to the lack of priori environment information and the fact that only partial multipaths can be detected by the receivers. Our method is based on time difference of arrival (TDoA) localization, and we use line-of-sight (LoS) paths to locate the transmitter and Non-LoS paths for mapping simultaneously. And we design a search-filter scheme to solve the ambiguity of delay observation combination. Simulations show that our method can accurately locate the transmitter and scattering points with few missed or fake results.