• Extended Kalman Filter
• LOS/NLOS identification
• multipath
• real-time tracking.
• TOA localization
• Ultra-Wideband

This thesis aims to investigate the performance of TOA localization technique in the presence of severe multipath. The adopted algorithm has the goal of identifying LOS/NLOS condition and eventually mitigate the NLOS bias. A mathematical model based on the modified Extended Kalman filter is developed to identify LOS and NLOS condition and estimate the bias in the case of NLOS. The experimental validation of the adopted algorithm was realized both in simulated and real scenarios. The results are shows a good performance of the algorithm in adapting to LOS/NLOS (and viceversa) transitions.