中文摘要：

在蜂窝网无线定位技术中，非视距（NLOS）误差的存在使定位性能急剧下降。该文提出了一种针对NLOS环境的基于卡尔曼滤波（KF）的动态跟踪定位算法。算法首先利用有偏卡尔曼滤波器的对测量值进行重构，然后利用重构后的测量值进行卡尔曼定位，并引入推算机制加以修正。实验结果表明，该方法在极为恶劣的NLOS环境下也能够获得很高的定位精度。

英文摘要：

The main impairment for location of terminals in wireless communications system is the Non-Line Of Sight （NLOS） condition. This paper presents a robust location tracking architecture for a NLOS situation. It mitigates NLOS error in the raw measurement using biased Kalman filtering. And then, a reckoning mechanism is introduced to Kalman filtering of location estimates. Simulation results demonstrate that, with the novel architecture, the location estimate can be obtained with good accuracy even in severe NLOS propagation conditions.