Iterative RToF-based localisation and time synchronisation in WLAN-like systems

Iterative localisation is currently arising as a solution to localise a mobile station in a cellular network. It is shown recently that iterating between the conventional delay estimation and multi-lateration steps allows one to approach the performance of direct localisation algorithms. Until now, the method has only been applied to the case of networks where the access points (APs) are perfectly synchronised with each other. A localisation and time synchronisation iterative algorithm suitable for networks is presented, where APs are not synchronised. It is shown numerically that iterating between the two conventional steps brings a significant performance gain.