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We introduce a solution for a specific case of Indoor Localization whichinvolves a directed signal, a reflected signal from the wall and the timedifference between them. This solution includes robust localization with agiven wall, finding the right wall from a group of walls, obtaining thereflecting wall from measurements, using averaging techniques for improvingmeasurements with errors and successfully grouping measurements regardingreflecting walls. It also includes performing self-calibration by computationof wall distance and direction introducing algorithms such as All pairs,Disjoint pairs and Overlapping pairs and clustering walls based on Inversionand Gnomonic Projection. Several of these algorithms are then compared in orderto ameliorate the effects of measurement errors.

Simulation of a first prototypical 3D solution for Indoor Localization based on Directed and Reflected Signals