Collaborative position location with NLOS mitigation

We propose a simple yet effective non-line-of-sight (NLOS) mitigation method that is incorporated into our earlier-developed iterative parallel projection method (IPPM) for collaborative position location. The proposed method handles NLOS range estimates based on the available a priori knowledge about NLOS condition and is demonstrated to significantly improve the localization accuracy in NLOS-dense (e.g., indoor) environments. We show that even with NLOS identification error, our method is still able to provide notable performance improvement. Finally, our method has light computational load and can be easily implemented in large-scale wireless sensor networks.