A signal model and weighted-average based estimation techniques are proposed to estimate the angle-of-arrival (AOA) parameters of multiple clusters for a low data rate ultrawide band (LR-UWB) based wireless positioning system. The optimal AOA estimation techniques for the LR-UWB wireless positioning system according to the cluster condition are introduced and it is shown that the proposed techniques are superior to the conventional technique from the standpoint of performance.

IEEE 802.15.4a standard enables location-aided routing or topology control in ZigBee networks, since it uses time-of-arrival (TOA)-based ranging technique. However, TOA based techniques may yield location error due to the non-line-of-sight (NLOS) effects, and hence degrade the network performance. In this letter, we demonstrate the impact of NLOS on the localization performance and propose a location error detection and compensation algorithm for IEEE 802.15.4a networks. The proposed algorithm detects NLOS by using the min-max algorithm and compensates the location error by using the Kalman filter. Experimental results show that the proposed algorithm significantly reduces the localization errors in indoor environments.