Figure 4From: Robust all-source positioning of UAVs based on belief propagation Simulation results with ground stations N 0 ′ and N 1 ′ . (a) Velocity of the formation flying. (b) The route of node 0. (c) Horizonal P.D.F positioning performance. (d) Vertical P.D.F positioning performance. (e) Horizonal positioning RMSE. (f) Vertical positioning RMSE.Back to article page