Initial value analysis of a nonlinear least-square method for indoor Doppler positioning with a single pseudolite

In this paper, we introduce a novel indoor positioning method using a single pseudolite. In this method, the receiver´s position is determined by using the Doppler shift produced by moving a receiver antenna. We use a non-linear least square method (NLLS) to calculate the position as with the case of GPS. However, unlike GPS, convergence of the solution is severely affected by the initial value of the update process of NLLS. We analyze which initial values converge to the appropriate solution.