Fig. 13
From: Backtracking-based dynamic programming for resolving transmit ambiguities in WSN localization
Visualization of localization performance for 40 sensor motes, where a represents the case of unique identification (40 IDs) and b represents the case of only 10 IDs. These localization results were obtained by first resolving the transmit ambiguities and then applying the least-squares approximation presented in [11], where the measurement noise has been set to σ = 0.05