Linear Cooperative Localization Algorithm with TOA/ AOA/ AOD and Multipath

In this paper, a new linear cooperative localization algorithm with one-bound scattering paths is proposed. By using time of arrival (TOA), angle of arrival (AOA), and angle of departure (AOD) estimate parameters of signal between the mobile station (MS) and the base station (BS), we derive a weighted linear least square algorithm with error analysis and obtain the location estimate of MS and the corresponding covariance matrix estimate of MS. Further, a linear cooperative localization algorithm is formed by transforming the nonlinear distances among MSs into linear ones with one-order Taylor expansion of four dimension, and considering the estimate error of the cooperative MSs. Simulation results illustrate that the proposed algorithm can significantly improve the localization accuracy, especially when the number of multipath and the cooperative MSs is large.