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In order to estimate the location of an indoor mobile station (MS), estimated time of arrival (TOA) can be obtained at each of several access points, or base stations (BS). These TOA estimates can then be used to solve for the location of the MS. In this paper, we present an alternative direct location estimator which incorporates the received signals at all base stations to estimate the location of the MS directly. The performance of the direct location estimator and prior TOA-based location estimators are compared.