Due to the power consumption and high circuit cost in antenna arrays, the practical application of massive multipleinput multiple-output (MIMO) in the sixth generation (6G) and future wireless networks is still challenging. Employing lowresolution analog-to-digital converters (ADCs) and hybrid analog and digital (HAD) structure is two low-cost choice with acceptable performance loss. In this paper, the combination of the mixedADC architecture and HAD structure employed at receiver is proposed for direction of arrival (DOA) estimation, which will be applied to the beamforming tracking and alignment in 6G. By adopting the additive quantization noise model, the exact closedform expression of the Cramer-Rao lower bound (CRLB) for the HAD architecture with mixed-ADCs is derived. Moreover, the closed-form expression of the performance loss factor is derived as a benchmark. In addition, to take power consumption into account, energy efficiency is also investigated in our paper. The numerical results reveal that the HAD structure with mixedADCs can significantly reduce the power consumption and hardware cost. Furthermore, that architecture is able to achieve a better trade-off between the performance loss and the power consumption. Finally, adopting 2-4 bits of resolution may be a good choice in practical massive MIMO systems.
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