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We investigate the problem of time-of-arrival (TOA) based localization underpossible non-line-of-sight (NLOS) propagation conditions. To robustify thesquared-range-based location estimator, we follow the maximum correntropycriterion, essentially the Welsch $M$-estimator with a redescending influencefunction which behaves like $\ell_0$-minimization towards the grossly biasedmeasurements, to derive the formulation. The half-quadratic technique is thenapplied to settle the resulting optimization problem in an alternatingmaximization (AM) manner. By construction, the major computational challenge ateach AM iteration boils down to handling an easily solvable generalized trustregion subproblem. It is worth noting that the implementation of ourlocalization method requires nothing but merely the TOA-based rangemeasurements and sensor positions as prior information. Simulation andexperimental results demonstrate the competence of the presented scheme inoutperforming several state-of-the-art approaches in terms of positioningaccuracy, especially in scenarios where the percentage of NLOS paths is notlarge enough.

Maximum correntropy criterion for robust TOA-based localization in NLOS environments