Hybrid TOA/AOD/Doppler-Shift localization algorithm for NLOS environments

Accurate location estimation of the Mobile Terminal in a strictly Non-Line-of-Sight propagation environment is still a challenging problem. Existing techniques that attempt to tackle this problem, either perform poorly or are not very practical due to their high computational complexity. In this work we present a low-complexity 2-step approach for the joint estimation of the location and the speed in the presence of nuisance parameters. This hybrid method effectively extracts the location-related information contained in the Doppler Shift, without explicit knowledge of the AOA. It then combines this information with the AOD and the TOA and outputs a Least-Square estimate. Despite its simplicity, it can achieve an accuracy of 10cm in 75% of the cases for sufficiently high SNR¹.