Cooperative Localization Using Angle of Arrival Measurements: Sequential Algorithms and Non-Line-of-Sight Suppression

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Executive Summary

The authors investigate localization of a source based on Angle of Arrival (AoA) measurements made at a geographically dispersed network of cooperating receivers. The goal is to efficiently compute accurate estimates despite outliers in the AoA measurements due to multipath reflections in Non-Line-Of-Sight (NLOS) environments. Maximal Likelihood (ML) location estimation in such a setting requires exhaustive testing of estimates from all possible subsets of "good" measurements, which has exponential complexity in the number of measurements. They provide a randomized algorithm that approaches ML performance with linear complexity in the number of measurements.

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