Mug: A multipath-exploited and grid-free localisation method

Typical methods for localisation in multipath environments focus on separating line-of-sight (LoS) from non-line-of-sight (NLoS) paths and only using LoS paths for localisation. A few works exploit NLoS paths but the methods are designed for some special settings. This paper presents a localisation method in which both LoS and NLoS paths are exploited for much more general settings. Its core is a convex optimisation formulation which handles multipath in a unified way, avoids error propagation between multiple stages, and guarantees a global convergence. In one of the case studies, single-antenna access points (APs) can locate a single-antenna mobile device (MD) even when all paths between them are NLoS, which according to the authors' knowledge is the first time in the literature.