Extended Data Fig. 3: Comparison of positioning results in synchronous and asynchronous mode.
From: A hybrid optical–wireless network for decimetre-level terrestrial positioning
a, Ground-truth trajectories of two different runs, one with the Rx USRP operated in synchronous mode (blue), and one with the Rx USRP in asynchronous mode (yellow). b, TD position errors and 95% ellipses for the synchronous and asynchronous runs shown in a, following the same colour coding. The black cross indicates the GT solution and its uncertainty. c, Same as in b, but for CP ambiguity-float solutions. Note the different scale of the graph. d, Same as in b, but for CP ambiguity-fixed solutions. During the early stages of the run in synchronous mode (blue), an incorrect integer correction was applied, leading to small islands of biased position errors.
