Research on AOA/Snell Indoor Fusion Positioning Algorithm with NLOS Error Compensation

In indoor positioning systems, the positioning accuracy is susceptible to Non Light Of Sight (NLOS) environment, which causes certain errors. In this paper, an AOA/Snell indoor fusion positioning scheme with NLOS error compensation is proposed. Using the multipath positioning estimation method, i.e., multipath angle of arrival (AOA), and angle of departure (AOD) position estimation method, and at the same time, referring to the refraction phenomenon produced by light passing through different media, and combining the refraction theorem with the multipath error compensation when the signal passes through the obstacle, developing a compensated multipath estimation algorithm, which does not need to be clock-synchronised, and using channel compression sensing technology, a single anchor can be performed in the Single-anchor point localisation and multi-anchor point localisation can be performed in two-way communication, the algorithm has good robustness and can achieve decimetre-level accuracy in real typical channel simulations.