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This paper focuses on the problem of positioning a source using angle-of-arrival measurements taken by a wireless sensor network in which some of the nodes experience non lineof-sight (LOS) propagation conditions. In order to mitigate the errors induced by the nodes in NLOS, we derive an algorithm that combines the expectation-maximization algorithm with a weighted least-squares estimation of the source position so that the nodes in NLOS are eventually identified and discarded. Moreover, a distributed version of this algorithm based on a diffusion strategy that iteratively refines the position estimate while driving the network to a consensus is presented.

Peer Reviewed