Fig. 5
From: Acoustic positioning in a reflective environment: going beyond point-by-point algorithms
Test track performed on August 5th 2016, resulting from the different methods: VPS (a), HPE filter (b), good performance filter (c), bad performance filter (d) and YAPS (e). The gray line represents the ground truth, measured by a high-precision GPS. The green line connects positions calculated for the V13 test transmitter. The dots are shaded according to their accuracy: darker shades indicate larger deviations from the GPS position. The gray polygon marks the contour of the receiver array