Table 2.

Multilateration location prediction errors in meters.

	Small Map		Large Map
Noise Level	0 dBm	10 dBm	0 dBm	10 dBm
No Obstruction	0.06 ($\sigma =0.01$)	1.06 ($\sigma =0.46$)	0.04 ($\sigma \simeq 0.00$)	2.26 ($\sigma =0.43$)
2 concrete blocks	0.67 ($\sigma =0.50$)	1.00 ($\sigma =0.45$)	1.80 ($\sigma =0.98$)	2.66 ($\sigma =0.98$)