Hexahedral Localization (HL): A Three-Dimensional Hexahedron Localization Based on Mobile Beacons

Table 10

The theoretically normalized error under different radii and lengths of step.

𝑅 (m)	Step (m)
	1	2	3	5	6	10	15
30	3.73	7.45	11.18	18.63	22.36	37.27	55.90
40	2.80	5.59	8.39	13.98	16.77	27.95	41.93
50	2.24	4.47	6.71	11.18	13.42	22.36	33.54
60	1.86	3.73	5.59	9.32	11.18	18.63	27.95
70	1.60	3.19	4.79	7.99	9.58	15.97	23.96
80	1.40	2.80	4.19	6.99	8.39	13.98	20.96
90	1.24	2.48	3.73	6.21	7.45	12.42	18.63
100	1.12	2.24	3.35	5.59	6.71	11.18	16.77