This invention proposes an FTM-corrected non-line-of-
sight ranging method based on matrix-bundled CSI multipath parameter
estimation. First,
Channel State Information (CSI) data from WiFi devices is collected, an
augmented matrix is constructed, and
singular value decomposition is performed to obtain a left
singular matrix and
singular value vectors. Second, the average power of the CSI is calculated and transformed to the logarithmic domain to determine the maximum number of candidate paths. Based on the
singular value vectors, a
Minimum Description Length (MDL) criterion is constructed to adaptively estimate the number of effective paths. Then, the
propagation delay of each path is obtained using the matrix-bundled
algorithm, a
Vandermonde matrix is constructed, and the received power of each path is estimated using the
least squares method. Finally, the
power ratio of the
direct path is calculated as a reliability factor. If it is below a threshold, the second strongest path is selected from the reflection paths with power greater than the
direct path. If there is only one such path, it is selected. The average
delay difference between the reflection path and the
direct path is calculated using power weighting, and this
delay difference is used to compensate for the FTM receiving
timestamp to obtain the corrected
ranging distance. This invention does not require a preset number of paths, is highly adaptive, and significantly improves the accuracy of FTM
ranging in non-line-of-
sight environments.