LAUSR

Precise range information plays a role in acquiring high-precision position awareness, but its accuracy will be severely degraded by clock errors. This letter devises a signal-multiplexing ranging scheme for integrated localization and sensing, which exploits the reflecting non-line-of-sight signals for sensing and jointly determines the node and the target positions with the range estimates. Specifically, we design a ranging protocol with a minimum number of signal transmissions via signal multiplexing and propose a maximum likelihood (ML) range estimate with effective clock error elimination. Simulation results show that the proposed method can achieve centimeter-level accuracy even in the presence of large clock errors.