Figure 3From: Range-Based Localization for UWB Sensor Networks in Realistic EnvironmentsDemonstration of the special situation. The solid circles are created based on the range estimates and the dashed circle is produced based on the true distance between the target node and reference node R4. In this case, there are two subgroups, (R1, R2, and R3) and (R1, R2, and R4), with MSE of the range estimated smaller than the variance of LOS range estimates.Back to article page