Figure 3.

Slow fading effect evaluated by means of computer experiments based on the testbed of Figure 2. JSIR and RBPF-KF are applied with σ h 2 = 9, σ y 2 = 5, and N p = 1000 particles; we show (a) the positioning RMSE and (b) estimation error Δh k of the parameters averaged over all APs.