The application belongs to the technical field of
wireless positioning, and particularly relates to a synchronization positioning and mapping method based on
millimeter wave communication
multipath transmission signals. By establishing a multi-antenna
virtual base station model, non-line-of-
sight paths are equivalent to virtual line-of-
sight paths transmitted by the multi-antenna
virtual base station, the state of the
virtual base station is described by position and
azimuth angle, thereby simplifying the relationship between the geometric parameters of the non-line-of-
sight transmission path and the state of the user, and the measurement information of the non-line-of-sight path transmission signals is more effectively utilized; secondly, the multi-antenna virtual
base station is regarded as a map feature in a spatial
radio frequency environment, a mobile user synchronization positioning and
mapping algorithm based on
millimeter wave multipath parameter measurement is proposed, the multipath parameter measurement set and the map
feature set are modeled as a random finite set, and a
probability hypothesis density filter is used to estimate the map, thereby significantly improving the synchronization positioning and mapping performance in the dense
clutter and sensor missed detection scenarios.