Leveraging Near-Field Effect for Environment Mapping: Radio-Slam on Thz Communication Systems

In indoor THz communication, access points (APs) transmit and receive broadband THz signals using multiple-input multiple-output (MIMO) array antennas, and indoor mobile robots can receive the transmitted signals from these APs and use them for positioning. However, due to various obstacles in the communication environment, not only line-of-sight (LOS) but also non-LOS (NLOS) signals are received, which degrades the localization performance. To solve this problem, radio SLAM technology that utilizes NLOS signals for environment mapping and localization has been proposed but the problem of difficulty in DA to distinguish objects due to various landmarks in the environment still exists. In this paper, we propose a radio SLAM technique for use in indoor THz near-field (NF) environments to solve this DA issue. The performance of the proposed SLAM in an indoor THz NF communication environment with mixed heterogeneous landmarks is analyzed through MATLAB simulations.