The invention discloses a robust
time difference of arrival positioning method in a mixed line-of-
sight / non-line-of-
sight scene, and the method comprises the steps: constructing a joint optimization model which comprises a target position, a sparse NLOS error vector and a reference
station common deviation term, and carrying out the iteration solving through employing a block
coordinate descent (BCD) strategy; the sparsity of an NLOS error is described through L1 regularization or logarithm regularization, and position
estimation is efficiently updated in combination with a Levenberg-Marquardt
algorithm, so that low-complexity real-time positioning is realized; according to the method, an external convex optimization
solver is not needed, and the calculation time is only milliseconds; the
system, the medium and the
electronic equipment are used for realizing the robust
time difference of arrival positioning method under the mixed line-of-
sight / non-line-of-sight scene. The positioning precision and robustness in a complex propagation environment, especially when the reference
station is influenced by NLOS, are significantly improved, and the defect that modeling of the scene is insufficient in a traditional method is overcome.