US Patent 10459065 Indoor localization using received signal quality weights

There is provided a system and method for determining the location of a target device relative to a set of anchor nodes having known locations in an environment wherein the line of sight between the target device and one or more of the anchor nodes is impeded. The system is configured to, for each anchor node: receive a signal transmitted between the anchor node and the target device; determine, based on the signal, an estimate of the distance between the target device and the anchor node or an estimate of the angle of arrival of the signal to the target device; determine a received signal quality indicator based on the signal; and, assign a weight for the signal based on the received signal quality indicator. The system is further configured to determine the position of the target device based on the estimated distances or angles of arrival, the corresponding weights and the locations of the anchor nodes.