Heuristic Localization Algorithm with a Novel Error Control Mechanism for Wireless Sensor Networks with Few Anchor Nodes

Figure 2

Estimation layouts for different anchor (neighbor) geometries. (a) Uncertain with 6 references; (b) uncertain with 10 references; (c) uncertain with 16 references; (d) stable with 6 references; (e) stable with 10 references; and (f) stable with 16 references.