To improve the positioning accuracy of a mobile transmitter under the non-line-of-sight (NLOS) condition

an enhanced interacting particle filtering algorithm is proposed.The multiple motion models of the target and the multiple measurement noise distribution models of the time difference of arrival (TDOA) of the target signal are jointly built.In the state update phase of the interacting multiple models

the particle filtering is utilized to estimate the time-varying state of the target and the line-of-sight (LOS)/NLOS mixed channel parameters

thus the effect of NLOS measurement errors on mobile localization can be eliminated.Simulation results demonstrate that the proposed method performs better than the existing multiple motion model positioning method under the LOS condition and single motion model positioning method under the LOS/NLOS condition

and is close to the derived posterior Cramer-Rao lower bound.