Fig. 1
From: Robust localization in wireless networks from corrupted signals
Self-localization of the passive receiving node (\(\circ\)) in a at location (5, 5) using eight anchor nodes (\({\times }\)) and time-difference-of-arrival (Tdoa). The resolution of the interarrival times is on the order of \(3 \text {ns}\) and \(n=100\) observations are used. Here \(\epsilon =15\%\) of the data is corrupted by non-line-of-sight (Nlos) outliers. In b,
and
denote the mean position estimated using the standard nonlinear least-squares method (8) and the proposed robust method. The ellipses illustrate the dispersion of location estimates with approximately \(99.9\%\) coverage for the standard (dotted) and robust (solid) methods