Fig. 5From: Robust time-of-arrival source localization employing error covariance of sample mean and sample median in line-of-sight/non-line-of-sight mixture environmentsComparison of MSE averages of the proposed estimators with that of existing methods when sensors 3, 6 and 7 are LOS/NLOS sensors and the remaining sensors are LOS sensors (ε :20 %,σ 1 :0.25 m,μ 2 :1 m)Back to article page