Fig. 4From: Adaptive robust time-of-arrival source localization algorithm based on variable step size weighted block Newton methodMSE averages of the localization algorithms as a function of contamination ratio (bias of NLOS noise (μ 2): 4 m, standard deviation of LOS noise (σ 1): 0.01 m, standard deviation of NLOS noise (σ 2): 10 m)Back to article page