Mobile Tracking Using Hybrid Measurements in NLOS Environments

Non-line of sight (NLOS) error is one of the main error sources of wireless position. In this paper, a mobile tracking method using hybrid measurements is proposed, which can perform well even in NLOS situation. Firstly, Kalman filter (KF) is used to track the mobile station (MS). In KF design, the measurement equations for only location are linearised and unified, and then we combine them to generate measurement equation of hybrid location. Secondly, we add "measurement selecting" and "MS position reckon" to improve the robustness of the tracking method to NLOS error. Analysis and simulation both show that the proposed method performs better than static location method of Taylor series, and it can mitigate the NLOS error effectively in four standard environment types