Performance Analysis of the Anchor-free Localization Algorithm with Low-Complexity Method for Node Distance Estimation Enhancement Using ToA

The Ultra Wide-Band (UWB) communication technology is used in ToA and these systems are capable resolving individual multipath components in the received Channel Impulse Response and determining their time of their arrival very precisely. In this article the anchor-free localization algorithm using ToA node distance estimation technique is introduced. We propose a low-complexity method for mitigation of the Undetected Direct Path effect which causes considerable errors in the node distance estimation. The method is based on combination of the time delay differences of the reflected paths detected in the measured channel power delay profile, overall channel impulse response length and Mean Excess Delay calculated relative to the firstdetected path