We present a novel approach for locating a smartphone in mixed non-line-of-sight (NLOS) and line-of-sight (LOS) environments when the positions of the sensor nodes are unknown. The reception times of acoustic signals emitted by the smartphone are used to estimate the position of the target and the microphones in three dimensions. The acoustic reflections from walls are treated as unknown virtual receivers, which facilitate the task of finding the sender. The observed time differences by the microphones and the virtual receivers are tracked by a joint probability data association filter. Afterward, the trajectory of the target and the receiver positions are estimated using a far-field approximation approach.

中文翻译：

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利用回声进行智能手机定位和麦克风自校准

当传感器节点的位置未知时，我们提出了一种在混合非视距 (NLOS) 和视距 (LOS) 环境中定位智能手机的新方法。智能手机发出的声学信号的接收时间用于在三个维度上估计目标和麦克风的位置。来自墙壁的声学反射被视为未知的虚拟接收器，这有助于找到发送器的任务。麦克风和虚拟接收器观察到的时间差由联合概率数据关联滤波器跟踪。然后，使用远场近似方法估计目标的轨迹和接收器的位置。