Hybrid TOA/AOA Geometrical Positioning Schemes for Mobile Location

In this paper we present hybrid positioning schemes that combine time of arrival (TOA) and angle of arrival (AOA) measurements from only two base stations (BSs) to locate the mobile station (MS) in non-line-of-sight (NLOS) environments. The proposed methods utilize two TOA circles and two AOA lines to find all the possible intersections to locate the MS without requiring a priori information about the NLOS error. The commonly known Taylor series algorithm (TSA) and the hybrid lines of position algorithm (HLOP) have convergence problems, and the relative positioning between the MS and the BSs greatly affects the location accuracy. The resulting geometry creates a situation where small measurement errors can lead to significant errors in the estimated MS location. Simulation results show that the proposed methods always perform better than TSA and HLOP for different levels of NLOS errors, particularly when the MS/BSs have an undesirable geometric layout.