TDOA/AOA hybrid wireless location method in NLOS situation

A novel TDOA (time difference of arrival)/AOA (angle of arrival) wireless position scheme in NLOS (non-line of sight) environment was proposed. Two Kalman filters were used in this method. First, a Kalman filter was used to preprocess the TOA (time of arrival) measurements for eliminating the NLOS errors. Second, these preprocessed measurements were input to the TDOA/AOA hybrid location estimator implemented by another Kalman filter. Simulations showed that the performance of the proposed tracking method was better than the TDOA tracking method and the static location of Taylor series expansion algorithm.