About the Authors -- Preface -- Acknowledgments -- 1 Introduction -- 1.1 Introduction to Radio Positioning -- 1.2 Short and Medium-range Radiolocation Technologies -- 1.3 Overview of the Book -- References -- 2 Radio Propagation -- 2.1 Statistical Multipath Theory -- 2.2 Radio Propagation Characteristics at Different Distance Scales -- 2.3 Measurements -- 2.4 Excess Delays in Radio Propagation -- 2.5 Antenna Effects -- References -- 3 Signal Detection by Correlation -- 3.1 Transmitter Signal -- 3.2 Receiver Signal Processing -- References -- 4 Bandlimited Time-of-Arrival Measurements -- 4.1 Wideband Multipath Theorem -- 4.2 Bandlimited Correlogram Characteristics -- 4.3 Model of Bandlimited Correlogram -- 4.4 Peak-Tracking Algorithm Performance -- 4.5 Leading-edge Projection Tracking Algorithm -- 4.6 Leading-edge Ratio Algorithm -- 4.7 Multipath Phase -- 4.8 Performance Summary of Tracking Algorithms -- References -- 5 Fundamentals of Positioning Systems -- 5.1 Navigation Systems and Tracking Systems -- 5.2 System Architecture -- 5.3 Overview of Position Determination -- 5.4 Indoor Performance Issues -- References -- 6 Noniterative Position Determination -- 6.1 Basic Positioning Methods -- 6.2 Linearization-Based Least-Squares Methods -- 6.3 Spherical Interpolation Approach -- 6.4 Quasi-Least-Squares Solution -- 6.5 Linear-Correction Least-Squares Approach -- References -- 7 Iterative Position Determination -- 7.1 Iterative Algorithms -- 7.2 Filtering-based Methods -- 7.3 Data Smoothing -- References -- 8 Positioning Accuracy Evaluation -- 8.1 Accuracy Measures -- 8.2 Cramer-Rao Lower Bound in Line-of-Sight Conditions -- 8.3 Derivation of Cramer-Rao Lower Bound in Non-Line-of-Sight Conditions -- 8.4 Approximate Variance of Linear Least-Squares Algorithm -- 8.5 Accuracy Comparison -- Annex 8.A: Components of the Fisher Information Matrix -- References -- 9 Geometric Dilution of Precision Analysis -- 9.1 Geometric Error Analysis -- 9.2 Statistical Error Analysis -- 9.3 Calculation of Geometric Dilution of Precision.

9.4 Accuracy Probabilities -- 9.5 Special Cases: Analytical Solutions to Geometric Dilution of Precision -- 9.6 Geometric Dilution of Precision Performance -- References -- 10 Multipath Mitigation -- 10.1 Residual-Weighting-based Method -- 10.2 Filtering-based Method -- 10.3 Constrained Optimization -- 10.4 Scatterer-based Method -- 10.5 Error Statistics -- 10.6 Propagation-Model-based Method -- 10.7 Pattern Matching -- 10.8 Performance Analysis -- Annex 10.A: Sequential Quadratic Programming Algorithm -- Annex 10.B: Equation Coefficients -- References -- 11 Anchor-based Localization for Wireless Sensor Networks -- 11.1 Characteristics of Wireless Sensor Networks -- 11.2 Coarse Localization Methods -- 11.3 Global Localization Methods -- 11.4 Localization with Unknown Internal Delays and Clock Offsets -- References -- 12 Anchor Position Accuracy Enhancement -- 12.1 Impact of Anchor Location Accuracy on Sensor Node Localization -- 12.2 Line-of-Sight and Non-Line-of-Sight Propagation Models -- 12.3 Anchor Position Accuracy Bound -- 12.4 Accuracy Improvement Based on Distance and Angle Estimates -- 12.5 Accuracy Improvement Based on Distance Estimates -- Annex 12.A: Definition of Matrix and Vector in Line-of-Sight Conditions -- Annex 12.B: Definition of Matrix and Vector in Non-Line-of-Sight Conditions -- References -- 13 Anchor-free Localization -- 13.1 Robust Quads -- 13.2 Multidimensional Scaling Method -- 13.3 Mass-Spring Model -- 13.4 Hybrid Approach -- 13.5 Graphical Model -- 13.6 Clustering and Stitching -- 13.7 Referent Coordinate System Establishment -- 13.8 Cramer-Rao Lower Bound -- 13.9 Accuracy of Location Estimates -- 13.10 Distance-Error-based Accuracy Measure -- 13.11 Accuracy Evaluation -- References -- 14 Non-Line-of-Sight Identification -- 14.1 Data Smoothing -- 14.2 Distribution Tests -- 14.3 Calculating Level Crossing Rate and Fade Duration -- 14.4 Estimating the Rician Factor -- 14.5 Generalized Likelihood Ratio Test -- 14.6 Nonparametric Method -- 14.7 Using Intermediate Location Estimation.

14.8 Neyman-Pearson Test -- 14.9 Joint Time-of-Arrival and Received Signal Strength-based Approaches -- 14.10 Angle-of-Arrival-based Methods -- Annex 14.A: Proofs of Theorems and Corollary -- Annex 14.B: Derivation of the Probability of Detection -- References -- Appendix A: Hyperbolic Navigation -- A.1 Analytical Equations of a Hyperbola -- A.2 Solution to Hyperbolic Navigation -- A.3 Solution to Example Problem -- Appendix B: Radio Propagation Measurement Techniques -- B.1 Measurements with a Network Analyzer -- B.1.1 Measurements with a Reference Cable -- B.1.2 Calibration of Antennas -- B.1.3 Propagation Measurements -- B.2 Time-Domain Measurements -- Index.