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The majority of the location estimation error in wireless communication systems comes from the effect of nonline-of-sight (NLOS) propagation. NLOS identification and correction are the main techniques of mitigating the NLOS impact on positioning accuracy. In this paper, we propose a cooperative localization algorithm that combines the hybrid time of arrival (TOA) / angle of arrival (AOA) measurements of all identified line-of-sight (LOS) base station (BS) -mobile station (MS) links with the TOA measurements of MS-MS links. Different cost functions are described according to the NLOS detection results based on existing identification methods. We also present a NLOS correction model which can be carried out when the destination MS to be located is completely in NLOS propagation, whereas some BS -cooperative MS links are in LOS conditions. Simulation results demonstrate that the proposed algorithm outperforms other existing hybrid localization techniques, and its accuracy increases with the number of LOS BS-MS links, as well as the NLOS detection accuracy.

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