中文说明：用于混合视距（LOS）和非视距（NLOS）环境下移动台的协同定位问题；利用两状态马尔可夫链来表示视距/非视距到达时间（TOA）测量值的切换行为，从而将合作定位问题转化为一类具有多个切换参数的跳跃马尔可夫非线性系统的状态估计问题。
English Description：
used for the problem of cooperative localization for mobile stations in a mixed line-of-sight (LOS)and non-line-of-sight (NLOS) environment .A two-state Markov chain is used to represent the switchingbehavior of the LOS/NLOS time-of-arrival (TOA) measurements so that the cooperative localization problemcan be cast into the state estimation for a class of jump Markov nonlinear system with multiple switchingparameters.