Performance comparison of residual related algorithms for ToA positioning in wireless terrestrial and sensor networks

Time of Arrival (ToA) is a popular technique for terrestrial positioning. This paper presents a comparison of ToA based residual related positioning algorithms in wireless terrestrial and sensor networks in both long range outdoor and short range indoor environments. Using ToA distance measurement error models in both environments, we compare the performance of the Least Square Estimation (LSE), Residual Weighting (Rwgh), Iterative Minimum Residual (IMR), Select Residual Weighting (SRwgh) and Lower-Computational-Cost Residual Weighting (LCC-Rwgh) algorithms. The latter three algorithms are inherited from the Rwgh algorithm for wireless sensor networks. Two aspects of the performance comparison are addressed: computational complexity and positioning accuracy. In performance comparison, the complexity comparison is done by analyzing the number of LSE iterations while the accuracy comparison is conducted through a set of simulations in both environments.