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Radio channel modeling has been an important research topic, since the performance of any communication system depends on channel characteristics. So far, most existing clustering algorithms are conducted based on the multipath components (MPCs) extracted by using a high-resolution parameter estimation approach, e.g., SAGE or MUSIC, etc. However, most of the estimation approaches require prior information to extract MPCs. Moreover, the high-resolution estimation approaches usually result in relatively high complexity, and thus, the clusters can only be identified by using an offline approach after the measurements. Therefore, a power-angle-spectrum (PAS) based clustering and tracking algorithm (PASCT) is proposed in this paper. First, a PAS is extracted from measurement data by using a Bartlett beamformer. For each PAS, the potential targets are selected from the background and separated into …