Figure 5

Illustration of the distribution dist _p (x _S ). Setting and resulting dist₂(x _S ) of a particular run of the experiment, where the range measurements are corrupted by additive Gaussian noise:${\xi }_i\sim \mathcal{N}(0,0.2),i=1,\dots ,10$. Ten anchors are used and 10,000 rounds of simulations are run to generate dist₂(x _S ). Left: anchor positions and color plot of “hits” received by each grid point; Right: 3D mesh plot of the left hand graph, representing dist₂(x _S ).