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Error statistics of range-based positioning using ground truth beacon positions and estimated beacon positions.
| Beacon Positions | Mean Error (m) | 50% Error(m) | 70% Error (m) |
|---|---|---|---|
| ground truth positions (dense) | 2.66 | 2.11 | 3.95 |
| estimated positions (dense) | 3.25 | 2.92 | 3.18 |
| ground truth positions (sparse) | 4.03 | 4.02 | 5.09 |
| estimated positions (sparse) | 4.69 | 4.66 | 5.90 |
