Robust kernel-based machine learning localization using NLOS TOAs or TDOAs

A robust kernel-based machine learning localization scheme using time of arrival (TOA) or time difference of arrival (TDOA) in none-line-of-sight (NLOS) environments is proposed. The scheme can provide accurate position estimation while the reference nodes are coarsely and randomly distributed in the area of interests. Moreover, the scheme is insensitive with respect to random TOA synchronization and measurement errors.