... programmingapproach to NLOS error mitigation in sensor networks,” in Proceedings of the 5th International Conference on Informa-tion Processing in Sensor Networks (IPSN ’06), pp. 301–308,Nashville, ... Article Range -Based Localization for UWB Sensor Networks in Realistic EnvironmentsGuowei Shen, Rudolf Zetik, Ole Hirsch, and Reiner S. Thom¨aDepartment of Electrical Engineering and Information Technology, ... different minimum numbersof nodes, there is no principle difference between thetwo methods. In this article, full synchronization is alwaysassumed. In most TOA -based localization systems in Line of...