Analysis of wireless geolocation in a non-line-of-sight environment

We present an analysis of the time-of-arrival (TOA), time-difference-of-arrival (TDOA), angle-of-arrival (AOA) and signal strength (SS) based positioning methods in a non-line-of-sight (NLOS) environment. Single path (line-of-sight (LOS) or NLOS) propagation is assumed. The best geolocation accuracy is evaluated in terms of the Cramer-Rao Lower Bound (CRLB) or the generalized CRLB (G-CRLB), depending on whether prior statistics of NLOS induced errors are unavailable or available. We then show that the maximum likelihood estimator (MLE) using only LOS estimates and the maximum a posteriori probability (MAP) estimator using both LOS and NLOS data can asymptotically achieve the CRLB and the G-CRLB, respectively. Hybrid schemes that adopt more than one type of position pertaining data and the relationship among the four methods in terms of their positioning accuracy are also investigated.