TDOA-Based Localization for Semi-Static Targets in NLOS Environments

Shenghong Li, Mark Hedley, Iain B. Collings, David Humphrey

Research output: Contribution to journalArticle

21 Citations (Scopus)


We study the problem of locating semi-static targets in non-line-of-sight (NLOS) environments using multiple sets of time-difference-of-arrival (TDOA) measurements. Specific focus is placed on the correlation between TDOA measurements caused by NLOS errors. We propose an algorithm which takes this correlation into account when fusing the available TDOA measurements and achieves high accuracy in estimating both the position and the associated uncertainty. In addition, a statistical ranging error model for NLOS environments is proposed based on empirical ranging data, which substantially improves the positioning accuracy. The proposed approach is verified experimentally in an aircraft cabin and achieves seat-level accuracy for 99% of the nodes.

Original languageEnglish
Article number7132722
Pages (from-to)513-516
Number of pages4
JournalIEEE Wireless Communications Letters
Issue number5
Publication statusPublished - 1 Oct 2015


  • Accuracy
  • Correlation
  • Distance measurement
  • Measurement uncertainty
  • Noise measurement
  • Position measurement
  • Wireless communication

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