NLOS error mitigation in TOA using Kalman filter
Ju Liu · Journal of China Institute of Communications · 2005
Three methods of mitigating the NLOS (non-line of sight) error in TOA (time of arrival) measurements were proposed, all of which were performed by Kalman filter. In the three methods, the iterative process of Kalman filter was modified in different ways according to the characteristics of the NLOS error in TOA measurements. Simulations showed that these methods could eliminate the random noise and the positive bias of the NLOS error in TOA measurements. Compared with the traditional algorithms of NLOS error mitigation, the proposed methods can obtain higher accuracy and realtime processing.