Range-based source localisation with pure reflector in presence of multipath propagation

Source localisation can be achieved by employing the time-of-arrival (TOA) measurements between the source and several spatially separated sensors. A simple and accurate algorithm for TOA-based positioning in the presence of multipath propagation is presented. With the use of a pure reflector, the multipath TOA information can be effectively utilised. Simulation results show that the performance of the proposed method approaches the Cramér-Rao lower bound when the measurement errors are sufficiently small.