# 无蜂窝毫米波网络中数字孪生条件化的RSS指纹定位

> 原文链接：https://robotics.hellobike.com/papers/2026-10-14-2610-20933
> 频道：papers | 更新日期：2026-10-14 | 标签：arxiv, cs.RO
> 核心摘要：针对数字孪生指纹在无蜂窝毫米波定位中的sim-to-real差距，DTCond融合真实与DT指纹，并在真实28GHz无蜂窝测试床及闭环用例上验证。

# 无蜂窝毫米波网络中数字孪生条件化的RSS指纹定位

::: v-pre
> 原文链接：[Digital Twin-Conditioned RSS-Fingerprint Localization in Cell-Free Millimeter-Wave Networks](https://arxiv.org/abs/2610.20933)（arXiv 2610.20933 · 发布日期：2026-10-14）

**Digital Twin-Conditioned RSS-Fingerprint Localization in Cell-Free Millimeter-Wave Networks**

针对数字孪生指纹在无蜂窝毫米波定位中的sim-to-real差距，DTCond融合真实与DT指纹，并在真实28GHz无蜂窝测试床及闭环用例上验证。

## 核心要点

- 数字孪生可生成密集指纹，但无蜂窝毫米波中域差距和遮挡稀疏限制直接使用。
- DTCond以分域编码器融合真实与DT波束域指纹，并加入AP注意力和校准不确定性。
- 真实28GHz测试床上，两阶段流程平均误差0.284 m，优于仅真实k-NN的0.313 m。
- oracle输入达0.186 m；还报告未见区域、多用户注意力、校准预算和闭环波束选择收益。

**验证范围与局限**：验证范围包括真实28GHz无蜂窝测试床、模拟同时多用户和2 m运动闭环波束选择用例。

## 英文摘要 (Abstract)

Digital twins (DTs) can generate dense synthetic fingerprints for localization via ray tracing, yet the sim-to-real domain gap limits their direct use, particularly in cell-free millimeter-wave (mmWave) deployments where distributed geometries and blockage-induced sparsity widen the mismatch. We propose DT-conditioned (DTCond), a framework that fuses real and DT beam-domain fingerprints as complementary inputs through per-domain encoders, learnable per-access point (AP) attention, and calibrated uncertainty. We derive oracle and pipeline Cramér-Rao bounds (CRBs) for DT-aided fingerprint localization, proving that DT information strictly tightens the positioning bound whenever spatial structure is preserved, with a heteroscedastic refinement that tightens the bound by a further 9.1%. On a real 28 GHz cell-free testbed, the deployable two-stage pipeline, which reads the DT fingerprint at a coarse k-nearest neighbor (k-NN) estimate, achieves 0.284 m mean error against 0.313 m for real-only k-NN. With the DT fingerprint read at the true position (oracle input), DT conditioning achieves 0.186 m mean error, validated through a ten-method ablation against domain-adaptation (DA) and transfer-learning baselines, and a 48% improvement on unseen regions. Multi-user self-attention provides 31-41% per-user gain for emulated simultaneous users, and progressive calibration reduces the measurement budget by 50%. As a use case, localization drives network configuration in closed loop. Between beam sweeps, a DT updated from measured RSS and read at the tracked position estimate selects the 3 of 81 beam pairs that each AP trains. With 49 calibration anchors in the update, the mean beam-selection loss stays below 1 dB over 2 m of motion, whereas reusing the last sweep loses 2.7 dB after 1 m.

作者：Varun S. Advani, Khalid Kanaan, Ahmed Nasser, Mohamed Y. Selim, Ahmed M. Eltawil
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## 原始参考来源 (Sources)

- [arXiv 2610.20933：Digital Twin-Conditioned RSS-Fingerprint Localization in Cell-Free Millimeter-Wave Networks](https://arxiv.org/abs/2610.20933)