From: Robust time-of-arrival source localization employing error covariance of sample mean and sample median in line-of-sight/non-line-of-sight mixture environments
Algorithm
Computational time (seconds)
ATWLS
3.0×10−4
ANLOS
2.1×10−3
Gauss-Newton (median)
1.1×10−3
M-estimator [16]
LMedS [28]
2.5×10−3