A robust wireless localisation system that is able to locate a mobile device in a non-line-of-sight indoor environment using only the time of arrival and angle of arrival of multipath signals received at the reference device is presented. By resolving the error variances owing to multipath signals into mutually perpendicular components, and applying weighting factors for each of these components, the location accuracy is greatly improved, especially at large distances and at high levels of angle measurement noise.
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