Algorithm 1: Proposed direct-path identification and tracking

1:for each localization moment do 2:    identify the transition from LOS to NLOS 3:    if the direct path does not change abruptly then    ▹Under the LOS scenario 4:        identify the earliest arrival path as the direct path 5:    else                      ▹Under the NLOS scenario 6:        if there are fewer than three consecutive moments under LOS then 7:           calculate the direct-path delay using Equation (1) 8:        else 9:           for $i=1,...,n$ do 10:               obtain $\mathsf{\Delta }h$ and $v_i$ 11:               calculate $\mathsf{\Delta }{t}_i=t_i-t_{i-1}$ 12:               calculate ${\omega }_i={\displaystyle \frac{e^{-\lambda (n-i)}}{{\sum }_{i=1}^n{e}^{-\lambda (n-i)}}}$ 13:               calculate the direct-path delay using Equation (2) ▹ Track the direct path 14:           end for 15:        end if 16:    end if 17:end for