An indoor mobile localization strategy based on particle filter in NLOS environment

This paper puts forward a joint-state estimation based on particle filter (PF) to improve the accuracy of mobile localization in indoor environment with mixed line-of-sight/nonline-of-sight (LOS/NLOS) conditions. We adopt the Wylie method for NLOS state estimation and a PF for location state estimation. Simulation results show the proposed a joint-state estimation strategy can significantly mitigate the positive range error and achieve high localization accuracy.