SYSTEM AND METHOD FOR ROBUST AND EFFICIENT TDOA BASED LOCATION ESTIMATION IN THE PRESENCE OF VARIOUS MULTIPATH DELAY

A system comprising at least a mobile device (110) and a plurality of gateways (120a-120g) whose positions are known, wherein the gateways (120a-120g) are operatively arranged to determine for each gateway a time differences of arrival (TDOA) of a signal originated by the mobile device (110). A solver unit (160) computes the position of the mobile device (110), based on said time difference of arrival (TDOA). The solver unit (160) implements ELM and a LMS algorithm to compute the mobile device's one-shot location estimate based on one or several packet transmissions, and includes a procedure to decide if an LMS algorithm needs to be run and a procedure to select or combine the location output from ELM and LMS for the one-shot location output. Further the solver unit comprises a tracking algorithm to realise the tracking of the moving device or to improve location accuracy should the device static.