This paper investigates 3D positioning in an indoor line of sight (LOS) and nonline of sight (NLOS) combined environment.\r\nIt is a known fact that time-of-arrival-(TOA-) based positioning outperforms other techniques in LOS environments; however,\r\nmultipath in an indoor environment, especially NLOS multipath, significantly decreases the accuracy of TOA positioning. On\r\nthe other hand, received-signal-strength-(RSS-) based positioning is not affected so much by NLOS multipath as long as the\r\npropagation attenuation can be correctly estimated and the multipath effects have been compensated for. Based on this fact, a\r\nhybrid weighted least square (HWLS) RSS/TOA method is proposed for target positioning in an indoor LOS/NLOS environment.\r\nThe identification of LOS/NLOS path is implemented by using Nakagami distribution. An experiment is conducted in the iRadio\r\nlab, in the ICT building at the University of Calgary, in order to (i) demonstrate the availability of Nakagami distribution for the\r\nidentification of LOS and NLOS path, (ii) estimate the pass loss exponent for RSS technique, and (iii) verify our proposed scheme.
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