Extended Kalman Filter-Based Approach for Autonomous Synchronization and Ranging in GPS-Denied Environments

Algorithm 1

Proposed EKF estimator.

	Require:, , , , ,
(1)
(2)	repeat
(3)
(4)
(5)
(6)	if  then
(7)
(8)	, if
(9)	, if
(10)	else
(11)
(12)	, if
(13)	, if
(14)
(15)
(16)
(17)
(18)	end if
(19)	until