A novel estimator and theoretical limits for in-car radio-location

This paper is focused on the design of a novel position estimator for in-car applications when some navigation information, such as speed and direction of the movement, can be supplied by additional integrated systems. Concretely, this paper presents a new method based on time-of-arrival (TOA) measurements, exploiting the known, or partially known, drift speed of the mobile. The proposed algorithm transforms the TOA measurements to solve the classic non-linear problem presented in all TOA-based radio-location estimators, obtaining a linear model where the WLS approach can be applied. The associated lower bounds for the known or partially known speed cases are also computed in the paper to conclude that the proposed algorithm attains them asymptotically with large enough observation windows.