Fig. 4

a Illustration of a network in which two agents (“5” and “6”) are using the same ID. The edges are annotated with the corresponding measurements of the ranging pulses. This graph is also called the true graph. b Graph showing the effective ambiguities due to the TAs. Here, additional edges are introduced to account for all potential origins. The edges are annotated with their weights. c Graph showing the labels or names of the edges that match the variable notation \(x_{ij}^{k}\) introduced in Section 3.1.2. Note that the order of the superscript numbering is arbitrary. Example, \(\mathcal {W}_{A}\left (e_{5,7}^{2}\right)~=~m_{A\rightarrow {{id}{R}}{7}}^{2}\). The graphs in b and c are also called ambiguity graphs