A Robust Indoor Wireless Localization

This paper presents a robust 3D positioning method based on Line-of-Sight (LOS) and Non-Line-of-Sight (NLOS) paths' Time of Arrival (TOA) and Angle of Arrival (AOA) mea- sured at both mobile and reference devices in an indoor environment. Selection process by using a novel two-step weighting approach is proposed to reduce uncertainties in mobile device's location. In this process, Gaussian neighborhood function is constructed and used to calculate weighted centroid of adjacent points. Additionally, with the knowledge of ceiling height, we are able to use only one path to estimate mobile position. The proposed localization scheme is shown to be robust and outperforms previous bidirectional NLOS localization scheme.