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Accurate node localization is vital for mobile ad hoc networks (MANETs).Current methods like Time of Arrival (TOA) can estimate node positions usingimprecise baseplates and achieve the Cram\'er-Rao lower bound (CRLB) accuracy.In multi-hop MANETs, some nodes lack direct links to base anchors, depending onneighbor nodes as dynamic anchors for chain localization. However, the dynamicnature of MANETs challenges TOA's robustness due to the availability andaccuracy of base anchors, coupled with ranging errors. To address the issue ofcascading positioning error divergence, we first derive the CRLB for anyprimary node in MANETs as a metric to tackle localization error in cascadingscenarios. Second, we propose an advanced two-step TOA method based on CRLBwhich is able to approximate target node's CRLB with only local neighborinformation. Finally, simulation results confirm the robustness of ouralgorithm, achieving CRLB-level accuracy for small ranging errors andmaintaining precision for larger errors compared to existing TOA methods.

Robust TOA-based Localization with Inaccurate Anchors for MANET