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Algorithm 1 Location Vector Estimation |
| 1: Initialization:
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| 2: , , , . |
| 3: while ( or ) do
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| 4: Calculate and by using Equation (16)–(19). |
| 5: Update and by using Equation (21)–(22). |
| 6: . |
| 7: end while
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| 8: Choose that minimizes . |
| 9: If , set ; otherwise, . |
| 10: Let the estimated location vector . |