NLOS error mitigation in TOA systems

To address the problem of low indoor positioning accuracy in time-of-arrival systems in the non-line-of-sight (NLOS) environments, we proposed an optimized positioning algorithm based on semidefinite programming (SDP). This algorithm reduces the NLOS error through a novelty method. Compared with the original SDP algorithm, we optimized the algorithm’s objective function by avoiding its dependence on the prior information, thereby decreasing infeasibility problems. The experiment showed that the proposed algorithm’s accuracy is superior to that of the traditional SDP algorithm in the same indoor environment.