Improved Hybrid ToA/AoA Location Algorithm in NLoS Environments for Wireless Sensor Networks

An improved hybrid Tine of Arrival (ToA)/Angle of Arrival (AoA) location algorithm by adopting Gauss-Newton iterative algorithm is proposed. It is with the advantage of fast convergence and combining with the grid-search-based method to optimize the initial object coordinates of the iteration, mean-while, under the condition of small measurement errors caused by noises of ToA and AoA, the algorithm performance can be improved effectively. In the Non-Line-of-Sight (NLoS) environments of the Wireless Sensor Network (WSN), simulation results show that improved accuracy is gained with moderate flexibility and fast steady convergence compared with the existing algorithms.