Non-Line-of-Sight Mobile Positioning Using Factor Graphs

Utilizing time-of-arrival measurements, we propose a recursive algorithm for estimating the location of a mobile station in a non-line-of-sight environment. By formulating the problem in a factor graph framework, messages are iteratively passed to obtain the mobile station position. Numerical results show that the proposed algorithm is more computationally attractive or reliable than existing methods and is able to achieve performance very close to the optimum benchmarks.