Robust Shrinkage Range Estimation Algorithms Based on Hampel and Skipped Filters

Figure 1

MSE averages of the range estimation algorithms as a function of the distance.

(a) Contamination ratio (): 20%, the bias of NLOS noise (): 4 m, standard deviation of LOS noise (): m, and standard deviation of NLOS noise (): 100 m

(b) : 30%, : m, : 4 m, and : 100 m