An alternative approach for position estimation Assume a(1,1), b(1,1), c(1,1), and d(1,1). Locate node d using the

An alternative approach for position estimation Assume a¼(1,1), b¼(1,
1), c¼(
1,1), and d¼(
1,
1). Locate node d using the noisy range estimates la¼0.7, lb¼1.5, lc¼1.6, ld¼2.2.

(a) Calculate the centroid of the three known locations.

(b) Obtain R and y according to (9.25) and (9.26) respectively.

(c) Calculate the position estimate by using (9.29).