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arXiv · 2604.25974

Multi-Periodogram Velocity Estimation with Irregular Reference Signals for Robot-Aided ISAC

Yi Geng·Pan Cao·Ting Zeng·Yongqian Deng
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Abstract

This paper addresses velocity estimation within robot-aided integrated sensing and communications (ISAC), where mobile robots act as sensing nodes but can only opportunistically reuse irregular 5G/6G reference signals (RSs). We show that the velocity profile induced by such irregular time-domain patterns can be decomposed into a periodic-peak component and an amplitude-shaping (weighting) component. Leveraging this structure, we propose a multi-periodogram velocity estimation algorithm that is standard-compliant and does not require new sensing-dedicated RSs or 3GPP modifications. Simulation results demonstrate that, compared with conventional periodogram processing, the proposed method improves low-SNR robustness by achieving a 3 dB SNR gain at the 10% missed-detection rate and reducing false alarms by 51%.

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Yi Geng, Pan Cao, Ting Zeng, Yongqian Deng. 2026-04-28. Multi-Periodogram Velocity Estimation with Irregular Reference Signals for Robot-Aided ISAC. https://arxiv.org/abs/2604.25974

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