Location of Mobile Station With Maneuvers Using an IMM-Based Cubature Kalman Filter

In this paper, we consider the problem of mobile location estimation in a rough wireless environment. To mitigate the non-line-of-sight (NLOS) effects, the transition between the line of sight and the NLOS is described by a discrete-time Markov chain. The multiple-model approach is applied first time for locating a mobile station (MS), and a location estimation algorithm is developed by employing the basic interacting-multiple-model approach to a jump Markov system with two independent switching parameters. The data fusion of the time of arrival and the received signal strength measurements is utilized, and the cubature Kalman filter is applied for nonlinear estimation. Simulations are presented to illustrate the effectiveness of the proposed algorithm involving locating an MS with maneuvers.