Figure 2From: Range-Based Localization for UWB Sensor Networks in Realistic EnvironmentsDemonstration for the hypothesis test. The solid circles are produced by estimated distances and dashed circles are produced by true distances. R2 and R3 are in LOS situation and estimated distances are only affected by measurement noise. R1 is in NLOS situation; estimated distance is affected by measurement noise and NLOS blockage.Back to article page