Position Estimation

In this chapter, four static positioning estimation methods are discussed: Triangulation, trilateration, multilateration, and fingerprinting. Here, static means that a mobile terminal is stationary during position estimation. The first three methods use angle of arrival, time of arrival, and time difference of arrival measurements, respectively. For these three methods, navigation equations and analytical or numerical solutions are derived. For instance, the Gauss–Newton, steepest descent, Levenberg–Marquardt, and Newton–Raphson algorithms are presented in order to solve the nonlinear equations numerically. The chapter concludes with a brief review of performance bounds and measurements that are used within this book.