Liang Chen Lenan Wu Mobile Positioning in Mixed LOS/NLOS Conditions Using Modified EKF Banks and Data Fusion Method. 1318-1325 2009 92-B IEICE Transactions 4 http://search.ieice.org/bin/summary.php?id=e92-b_4_1318&category=B&year=2009&lang=E&abst= db/journals/ieicet/ieicet92b.html#ChenW09