We propose an algorithm for the simultaneous position and clock tracking of a wireless mobile node by a set of reference nodes. Based on a protocol similar to that of two-way ranging, our algorithm efficiently estimates the position and velocity of the mobile, and the skew and offset of its clock. We take into account that the propagation conditions between each reference node and the mobile change as the latter moves. In particular, changes between line-of-sight (LOS) and several non-line-of-sight (NLOS) scenarios are considered. We study the performance of our algorithm and compare it to other relevant proposals in the literature by means of simulations, showing that our proposed method improves localization accuracy.

我们提出了一种算法，用于通过一组参考节点同时跟踪无线移动节点的位置和时钟。基于类似于双向测距的协议，我们的算法有效地估计了移动设备的位置和速度，以及其时钟的偏斜和偏移。我们考虑到每个参考节点和移动设备之间的传播条件随着后者的移动而变化。特别是，考虑了视距 (LOS) 和几种非视距 (NLOS) 情景之间的变化。我们研究了我们算法的性能，并通过模拟将其与文献中的其他相关建议进行了比较，表明我们提出的方法提高了定位精度。