Fig. 7From: Single base station hybrid TOA/AOD/AOA localization algorithms with the synchronization error in dense multipath environmentRMSE versus the standard deviation of range measurement in OB scattering environment. LLS, LLS-1, LLS-2, LLS-3, QP, DF, CRLB-S are presented in Sect. 3, whereas the CRLB-NS and Rwgh are presented in [19] and [20], respectively. The plot is obtained when \(\sigma_{\alpha } = \sigma_{\beta } = 1^{0}\) and \(\Delta t = 1\;\mu s\)Back to article page