Target localization has been a popular research topic in recent years since it is the basis of all kinds of location-based applications. For GNSS-denied urban or indoor environments. the localization method based on time-of-arrival (TOA) is one of the most popular localization methods due to its high accuracy and simplicity. However. https://www.roneverhart.com/Pure-27-Blemish-Correcting-Purifying-Fluid/