Fig. 7From: High precision hybrid RF and ultrasonic chirp-based ranging for low-power IoT nodesHeatmap of the distance simulation error in a room with absorption coefficients a α=0.05, b α=0.3, and c α=0.9. The absolute value of the autocorrelation in case of an ambiguous distance measurement (d) shows the difference between the correct peak (red line) and the maximumBack to article page