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. 2013 Mar 13;13(3):3501–3526. doi: 10.3390/s130303501

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© 2013 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).

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Figure 9. — Calibration procedure for a pair of nodes. A linear regression of the distance measurements is used in order to compensate the group delay in the TOF measurements. The distances measured with the laser rangefinder are plotted on the Y-axis, while the averaged distances obtained from the TOF measurements are plotted on the X-axis. The thin line shows the linear regression of the plotted dots before the group delay compensation. Here a distance error of 22.41 cm is observed. The thick line shows the regression line obtained after calibration of the nodes.