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Multilateration is a fundamental localization technique for wireless sensor network applications. Classical multilateration techniques typically assume that the anchor locations are known and error free, an assumption that is always not valid in practice. Although the popular Total Least Squares (TLS) method is able to take into account such errors in general, it requires that the noise components in the formulated data matrices be identically, independently distributed. In multilateration localization, however, it can be shown that the noise components in the formulated equations are algebraically related.
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