Single-Site 3-D Positioning in Multipath Environments Using DOA-Delay Measurements

Localization of a source signal in the presence of multipath propagation is addressed in this letter. This problem is often encountered in environments such as urban areas and indoor corridors. A 3-D positioning algorithm is presented. It uses the azimuth direction-of-arrival (azimuth-DOA), elevation-DOA and time-of-arrival (TOA) data, measured by a base station (BS). By applying virtual station (VS) technique, the non-line-of-sight (NLOS) paths, caused by multipath reflection, are converted into line-of-sight (LOS) paths. After that, a two-step weighted least squares (WLS) 3-D positioning algorithm is derived. Performance analysis is conducted by comparing the algorithm’s mean-squared-error (MSE) and the optimal Cramér-Rao bound (CRB). Simulation results are finally provided to verify the mathematical analysis.