UWB localization algorithm to improve accuracy under NLOS environment

The present paper considers how to improve estimation accuracy in a time of arrival (TOA) localization system using UWB in a non-line-of-sight (NLOS) environment for a sensor network. This algorithm consists of step-by-step compensation on the basis of two approaches considering a reference position which is estimated from data affected by NLOS delay. The first consideration consists of determining NLOS delays for each node, performing compensation to alleviate the effect on line of sight (LOS) nodes through a step-by-step compensation for the NLOS delay. The second consideration consists of compensating the effect of NLOS delay on the position determined on the basis of node distribution and geometrical relations of the estimated positions. Using these considerations, we show that the proposed algorithm outperforms the conventional algorithm in terms of estimation accuracy.