Figure 5
From: Schedule-based sequential localization in asynchronous wireless networks
True node positions and error ellipses for all nodes estimated at self-localizing node indicated by an asterisk. The anchor nominal positions are indicated by crosses, the auxiliary nodes by triangles and the centroid of the nominal anchor positions by a square. The solid black ellipses indicate the HCRB and the dashed red ellipses indicate the MSE performance of the proposed AMAP estimator. Here, σ a  = 3 cm and σ = 1 ns. The average RMSE of the position estimate is 7.3 cm and the HCRB is 6.2 cm.