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In this paper, we proffer a novel technique designed for low-cost and computationally light localization of mobile nodes in an urban terrain, by leveraging the extended COST 231 Hata Path-Loss (PL) model and the Trilateration technique. Our approach accounts for the possibility of a Non-Line-of-Sight (NLoS) scenario in a medium-sized city, wherein one of the three reference nodes required for the trilateration approach encounters NLoS impediments. Our proposed method proceeds with localization by utilizing solely two Line-of-Sight (LoS) reference nodes, while integrating the localization system simulator with an Extended Kalman Filter (EKF). The simulation results presented herein demonstrate a marked enhancement in performance, surpassing that of trilateration in scenarios where three LoS nodes cannot be established.
Heydarishahreza et al. (Sun,) studied this question.