Abstract
In complex underground parking scenarios, non-line-of-sight (NLOS) obstructions significantly impede positioning signals, presenting substantial challenges for accurate vehicle localization. While traditional positioning approaches primarily focus on mitigating NLOS effects to enhance accuracy, this research adopts an alternative perspective by leveraging NLOS propagation as valuable information, enabling precise positioning in NLOS-dominated environments. We introduce an innovative NLOS positioning framework based on the generalized source (GS) technique, which employs ray-tracing (RT) to transform NLOS paths into equivalent line-of-sight (LOS) paths. A novel GS filtering and weighting strategy to establish initial weights for the nonlinear equation system. To combat significant NLOS noise interference, a robust iterative reweighted least squares (W-IRLS) method synergizes initial weights with optimal position estimation. Integrating ultra-wideband (UWB) delay and angular measurements, four distinct localization modes based on W-IRLS are developed: angle-of-arrival (AOA), time-of-arrival (TOA), AOA/TOA hybrid, and AOA/time-difference-of-arrival (TDOA) hybrid. The comprehensive experimental and simulation results validate the exceptional effectiveness and robustness of the proposed NLOS positioning framework, demonstrating positioning accuracy up to 0.14 m in specific scenarios. This research not only advances the state of the art in NLOS positioning but also establishes a robust foundation for high-precision localization in challenging environments.