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Table 1 Reference node addresses and coordinates

From: Robot indoor location modeling and simulation based on Kalman filtering

Reference node address Coordinates/m
0X0001 (0,0,2)
0X0010 (0,3.5,2)
0X0011 (0,6,2)
0X0100 (8,6,2)
0X0101 (16,6,2)
0X0110 (16,3.5,2)
0X0111 (16,0,2)
0X1000 (8,0,2)