Simulated demo of the centralized Multilateration technique for localization. Each of the nodes has an independent velocity and direction and periodically make distance measurements to estimate the position and velocity of all the nodes in the network. There were 5 stationary reference nodes which are assumed to know their positions. The velocities and directions of nodes were uniformly random. Nodes would travel at a given velocity for a random interval and then choose a different random velocity and direction.
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