Underground positioning method of single base station DOA and TOA based on single reflectio

In view of problem of big error in underground single base station positioning system due to wireless signal influenced by multipath effect and non-line of sight, a joint estimation positioning method of DOA and TOA based on single reflection was proposed. The method constructs two hyperbolic trajectories which takes base station point and single reflection point as focus by use of TOA estimation of line-of-sight path and multiple single reflection paths, constructs linear line by use of DOA estimation, so as to get binary multiple estimation equation set which contains continuous location information, and obtains precise location of mobile target through calculating intersection of linear line and hyperbola. The simulation results show that the method achieves higher positioning accuracy than line-of-sight direct positioning method with three single reflection paths.