Extended Data Fig. 4: Horizontal precision and constellation size.
From: A hybrid optical–wireless network for decimetre-level terrestrial positioning
Horizontal positioning precision, (σEast2 + σNorth2)1/2, with σEast and σNorth the position standard deviations as determined from a nonlinear least-squares optimization that assumes ranging errors with a standard deviation of σr = 6 cm for all transmitters. Values above 50 cm are clipped and replaced by white areas. Shown also are OFDM-TD position solutions for the run with the asynchronous receiver of Extended Data Fig. 3 (blue curves), and the corresponding ground-truth path (red curves). a, Precision and position solutions for the full TNPS constellation. b, Precision and position solutions for the TNPS constellation with Tx-1 and Tx-3 removed. c, Precision and position solutions for the TNPS constellation with Tx-1, Tx-2, and Tx-5 removed. d, Precision and position solutions for the TNPS constellation with Tx-6 removed.
