Figure 15
From: Schedule-based sequential localization in asynchronous wireless networks
Large-scale setup on a 5 × 5 grid of unknown position nodes. Each of the nominal positions is randomized by adding a random variable which is uniformly distributed in a square region with an area of 1 m2. Here, σ = 1 ns, σ a  = 3 cm, and σ δ  = 100 ps. The average RMSE is 3.8 cm and the HCRB is 3.3 cm.