If there are larger than expected large circles for the used hardware: delete them
Delete the typical circles containing at least 5 others if there are no typical circles contained by at least 5 others
If there are typical circles contained by at least five others delete them.
Group the anchors based on distance
Are there small distance circles contained by other small distance circles of other group members?
new typical circle radius all members = geometric average of
m measured distances
new_Error_on_Distance = (Error_on_Distance of member)
/sqrt (# remaining typical circles -1)
adapt small and large circles according to
If no: continue