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This paper proposed a closed form localization method based on wireless sensor network (WSN) in the non-line of sight (NLOS) environment. We utilized the angle of arrival (AOA) and time of arrival (TOA) measurements to determine the positions of target and reflectors according to the localization geometry. A two-step weighted least square (WLS) estimator is exhibited, where the first-order error analysis is used. In addition, a derivation of the Cramér–Rao lower bound (CRLB) is presented and the performance will be verified by the simulations. Keywords-AOA; CRLB; NLOS; WLS; WSN; TOA

A Closed form Localization Method using AOA and TOA Measurements based on WSN in NLOS Environments