Figure 6

RMSE of $\widehat{\mathit{p}}$ normalized with respect to d _s = cT _s for positioning without soft information ("wo"), with soft information from the likelihood method ("like"), and with soft information from the linearization method ("lin"). For comparison $\sqrt{\overline{\mathsf{\text{CRLB}}}\left(\mathit{p}\right)}$ normalized with respect to d _s is plotted ("crlb"). Curves labled with "L" were obtained for the scenario with large average GDOP, and curves labeled with "S" were obtained for the scenario with small average GDOP. (a) WLS method for a single-path channel. (b) WLS method for a single-path channel at 30 dB. (c) TSA for a single-path channel. (d) TSA for a single-path channel at 30 dB. (e) TSA for a two-path channel with Δτ₂ ∈ [T _s ,2T _s ]. (f) TSA for a two-path channel with Δτ₂ ∈ [T _s ,2T _s ] at 30 dB. (g) TSA for a two-path channel with $\Delta {\tau }_2\in \left[\frac{T_s}{10},T_s\right]$. (h) TSA for a two-path channel with $\Delta {\tau }_2\in \left[\frac{T_s}{10},T_s\right]$ at 30 dB.