Error Elimination Method for TOA Based Wireless Cooperative Localization Networks in NLOS Case

In this paper, we focus on the problems of locating the target and reducing the errors in three-dimensional (3D) wireless cooperative localization networks, utilizing time of arrival (TOA) in the presence of non-line-of-sight (NLOS) error and clock jitter error. Through linearizing the range-based expressions and utilizing novel three-step weighted linear least squares (T-SWLLS) algorithm, a closed solution of target position can be obtained, in which errors can be reduced effectively. Meanwhile, the simulation results indicate that the precision of the proposed algorithm can close to Cramer-Rao lower bound (CRLB), the presented approach is obviously superior to the traditional algorithms in positioning accuracy.