A residual weighting algorithm of NLOS error mitigation for indoor ultra-wideband locating

According to the indoor location precision which can be vulnerable influenced by multipath disturbance and the non-line-of-sight (NLOS) transmission disturbance, a residual weighting algorithm of NLOS error mitigation was proposed. The algorithm takes advantage of the Taylor algorithm's robustness and high precision, and also uses that initial value to improve the precision of Taylor. The algorithm is simple and has the ability of NLOS error mitigation. Simulation results showed that the improved algorithm properly mitigated the NLOS errors, and basically satisfied the requirement of the indoor location precision with robust characteristic.