Influence of positioning error on time delay based localization

This paper investigates the effect of a position error in anchor node position in time of arrival based systems. A positioning error, in the form of a random variable, is added to the anchor node coordinates. Then the localisation accuracy is compared to to the per- formance of distance error of similar value. The paper shows the results for the following estimation methods: the least squares, the weighted least squares, and the two step least squares. These are compared against the maximum likelihood estimator. This is done in 2D and 3D scenarios.