On the hybrid localization in heterogeneous networks with lack of hearability

This paper investigates and presents the results of hybrid localization techniques in heterogeneous networks with lack of hearability scenarios. In this contribution, we generalize the work presented in [1] and [2] by investigating the limits of their combination but also the limits of the minimal number of anchor nodes (AN) used for hybrid positioning. The focus is on two scenarios: the small indoor scenario combining WiFi and cellular systems; and, the small-to-mid-scale scenario composed of one located mobile terminal and one AN. In this work, we investigate the effect of the availability of the three metrics i.e. the Time of Arrival (TOA), the Angle of Arrival (AOA), the Received Signal Strength based Fingerprint (RSS) on the positioning accuracy when the number of anchor nodes is minimal. To combine these measurements, we propose to use the two levels Unscented Kalman Filter (UKF). Simulations results show better system performance in poor transmission scenarios.